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1. Command Command Description 1 Transmit byte Byte value is in data register Slave responds with 1 if the byte was processed or 0 if it was not 2 Receive byte Slave responds with 2 if has put a new received byte into the data return register or 0 if there were no bytes to receive Combined transmit receive a combination of the transmit and receive 3 commands The response will also be a logical OR of the two command responses Set baud factor byte 1 LSB The actual baud rate is the baud factor 4 ae multiplied by 300 Set baud factor byte 2 MSB The actual baud rate is the baud factor 5 A multiplied by 300 6 Set port configuration bits 7 Open port 8 Close port Get errors Slave responds with 1 if the port is open and can return an error 9 bitfield The error bits are the same as for the function serAgetErrors and are put in the data return register by the slave Returns count of free bytes in the serial port write buffer The two 10 11 commands return the LSB and the MSB of the count respectively The LSB 10 should be read first to latch the count Returns count of free bytes in the serial port read buffer The two 12 13 commands return the LSB and the MSB of the count respectively The LSB 12 should be read first to latch the count Returns count of bytes currently in the serial port write buffer The two 14 15 commands return the LSB and the MSB of the count respectively The LSB 14 s
2. 19 MOUS Tiat or E aa TETES 183 ROUSE A 183 main function 24 38 183 298 nOuUSeiX sascccssscsssessssessseecn 183 NU D sian ice 183 inap file nsise BOT NULL ossis 183 protected woe 184 memory se a Rect Ae Tes a a sliicaSspaeeearee cise 131 O TOOU sc bcs AET segehain voeeeseeeeesseeeesseeeeeees 185 FCN Slee E octal integer ue ered 21 Shia tev ceseciee tc taeeeasareles 186 PR O asic aag Offsets im assembly 138 132 Shorena An enS 186 a A oe P a arcntwariar 43 273 SIZE a a a 186 dump Oemma uss 231 OPETALOLS sorserseereeeverreserees 205 sizeof eo earee aac kteans 187 ae A E coh 133 and macros 19 SPO nuria a 187 ee a Tanis 4 159 193 arithmetic operators 206 Satie rcs cok a a St 187 Fiche uote nee ben an 136 decrement 0 208 SUIUCE ooeeececesecseeeseseeseseeees 188 management a akk 170 185 division Oa 207 Switch gene eee neneee 189 increment 208 i MAp senean 131 307 indirection seccccsccsess 207 ypedef os seeeeesesess sesso 189 read only oe eeeeeeeeeeeseceeeeeeee 4 UMON eorn eeri 190 PEOI TE 132 152 185 300 M NUS seses 206 unsigned ssssssessesessseseeee 190 root keyWOrd seesssssseusesseseeen 4 modulus e cheats 208 USEIX eea aaa 190 o nenoinmanaseehtiit 4 multiplication 207 WAKtPOT annro 191 oe E Pus a 206 waitfordone cccceeeeees 1910 ee POINIETS ssseceeeseeserevens 207 Aan CAERE 192 T e naccanauen 220 post decrement
3. 208 Xd ta sisi eeta 192 Compile esessesssssssseeeeseeee 225 post increment 208 INEM sosveseereereeneesernsene a ee ene 222 Sea a ued gee SHIH aenvessenstnerneeneen Beet Silene Psat ae 220 SOIN A esc Yields e or eiiie pss 194 Help 271 assignment operators 209 Sipser E add assign 209 L Inspect EE 229 265 AND assign amp 210 Options oo eee 233 ASSIGN oaii 209 language elements 15 18 22 Run soesennennenerneeeeeereesneneneees 227 divide assign 209 169 message window 223 224 265 modulo assign 209 Operators oo eee 205 Metadata meiit 142 multiply assign 209 LIB DIR soinera in 42 202 MMU esseere 4 131 OR assign I ssessssseeee 210 326 Dynamic C User s Manual shift left lt lt wee 209 P programming seses 3 shift right gt gt 0 0 0 0 209 redoing changes s s s 222 subtract assign 209 PageDown key sosesc 219 registers XOR assign 5 oee 210 PageUp key esses 219 saving and restoring 162 associativity e e 205 partitioning eeeseeeereeeees 141 Shadow oo eeeeesseseseeeeeeeneees 306 DINATY oo eeeeeeeeeeeteeeeeeeeenes 205 passing arguments 31 154 155 SNAPSHOTS sesse 267 bitwise operators l 159 160 161 WINdOW eeeceseeeeeees 265 267 address amp ssecssessseseeesee 210 pasting text eee eeeeeeeeee 222 reset bitwise AND amp 210 periodic interrupt 55 64 91
4. The numerical values and characters in strings are used to initialize sequential byte locations If separate I amp D space is enabled assembly constants should either be put in their own assembly block with the const keyword or be done in C asm const myrootconstants db 0x40 0x41 0x42 endasm or const char myrootconstante 4 x40 x4is x4074 Chapter 12 Using Assembly Language 149 If separate I amp D space is enabled db places bytes in the base segment of the data space when it is used with const If the const keyword is absent i e asm myrootconstants db 0x40 0x41 0x42 endasm the bytes are placed somewhere in the instruction space If separate I amp D space is disabled the default condition the bytes are placed in the base segment aka root segment interspersed with code Therefore so that data will be treated as data when referenced in assembly code the const key word must be used when separate I amp D space is enabled For example this won t work correctly without const fasm const label db Ox5a endasm main asm ld a label d OxSa to reg a endasm The assembly language keyword dw defines 16 bit words least significant byte first The keyword dw should be followed immediately by numerical values dw 0x0123 OXFFFF xyz This example defines three constants The first two constants are literal
5. 309 FCLASS ioeie 195 dynamic memory allocation 133 OPTIONS oo 195 D dynamic storage allocation 28 debug 183 196 298 daa structire E define usssssssessessesssees 19 196 COMPOS ItES oo eee eee 28 HELE se seeeeseeeseeeecteseeseeeee 198 Keyword sinn 24 Edit ment oo 222 HEISE assssessessserstsrererseeseerens 198 Desting onenn 27 edit mode wesecccesccseseeee 219 224 endasm Pi 147 151 196 offset of element 152 Editor eiaa e S Sa 3 a 198 pass by value 0 31 El aino ee a 176 HOTOT sssssssssssssrenrrrnsrennesnn 197 returned by function 160 embedded assembly 3 154 159 fatal greeny ee cies a ay 196 UNION vse scscessenisidensssonscnoeess 28 160 funcchain 36 197 data types oo eeeceeeceeeeneeeeee 27 embedded quotes 23 GLOBAL_INIT Soares 197 AP PTEP ALES sis csesteshisieersencen 27 Encryption 2 eee eects 309 FAD coeessssseseeseseeserererseeereees 198 primitive sn IG End key a ands cits 219 DUEL casi me eae 228 DATAORG ssassn 300 302 EndHeader 39 40 41 Hifndef sssssssessesresesserserees 19 DATASEG non 131 0 enum assen 177 interleave eee 199 date and time sscssscscscsssseseeeee 92 EPROM n 4 makechain T SE N tute scion TAO E SE 151 memmap ge a 200 CEDUS ernen ss cdevcuespesests 297 errors OPONIS Sarena i 200 dialog DOX woo eee 257 error code ranges 125 nodebug 183 196 298 differen
6. punctuation oes 16 aiken apace A aaa 3 184 ae Q O A O 186 less than lt wc 211 single stepping l less than or equal lt 211 quitting Dynamic C 221 assembly window 157 SIZEOL os ieccisceacdianeses sev cuvences 216 OPtiONS Lassaria 227 UMATY oeeseeeseesseeseee ieee ay R watches window s s 230 optimize size or speed Rabbit restart SIZES nEri 186 256 options protected variables 184 SIZEOL E E E eceecteet 187 compiler wo eee 252 Kopita ta ERE loonpass 33 end 233 RabbitWeb 0 ee eeeeeseeeee 310 pping p pass Soe a a a ae RAM compile 254 302 Slave port oe eee DS read only Memory 0ceeeee 4 slice statements c 63 real time SNMP aaeeeo 310 Dynamic C User s Manual 327 soft breakpoints 0 0 0 228 pass by value oe 31 USB sea giieuank endian 251 source files woe eeeceeeeeceeeeeeeees 38 return space 155 160 161 USE_2NDFLASH_CODE 136 SP stack pointer 155 160 161 returned by function 160 298 168 202 UWMION UAE 28 USCIX 3 2 00 E 158 190 297 special characters ee 23 subscripts User block e 298 299 special symbols i E AEREE ESS 27 Utility Programs in assembly ou ee 151 support files oe eee 43 File Compression Decompres Speedie iriiri 187 256 switch oo eeeeeeeeeeeee 35 176 189 SION EEE A 311 C E asses 310 breaking out of seese 33 Font Bitmap Converter 313 stack CASE
7. oeseesesessessee 221 MENU eRe ee ee 227 logical OR I D cesses 213 pintf sessen 23 26 243 mode 26 ott ies eoteh 224 227 operator precedence 217 program NO POMINY oenina 227 postfix expressions 213 example o eseseecssseeeesseeeceeseees 26 run time errors usses 125 parentheses 213 HOW sa ckracnthits cies 32 array indices 213 0 0 5 10017 c viici isinisisi 256 S dot Y aiiin 214 TESEL E E E E E E A 228 ne ple programs Par otee O 213 PAE Te e basic C constructs 0 0 26 right arrow gt 214 programmable ROM 4 ook saving a file eee 221 precedence 205 project files 221 293 295 i pan aaa promotion ee 206 savingitrace window tyne 200 reference dereference opera search text cceceeeeeeeeeeeeees 223 TOTS eeeeecceseceeseceseceeseeeees 214 Protected eee secure communications 310 address 8 ouoir 214 keyword 0 184 Ra iabl 3 184 segchain oo eeeeeeeseeeeeeeeee 36 185 bitwise AND amp de oat 214 VATIADICS 20 eee eee eee eee gt SEGSIZE 131 epi totvoes SEGSIZE nese senee eee tnenscceesnone andrrectiOn aoe S a me ts 253 separate I amp D space 149 163 multiplication 215 chec cing E eee ES 230 255 relational operators 211 pene ore ate pee shadow repistens it ee 306 greater than gt 212 in module header 0 39 eng 186 greater than or equal gt
8. sp Description Factory Default GUI Equivalent SZ Description Factory Default GUI Equivalent td Description Factory Default GUI Equivalent Disable runtime checking of pointers Runtime checking of pointers is performed Uncheck Pointers in the Project Options Compiler dialog box Restrict watch expressions may save root code space Allow any expressions in watch expressions This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check Restrict watch expressions Don t restrict watch expressions Allow any expressions in watch expressions This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check Allow any expressions in watch expressions Optimize code generation for speed Optimize for speed Choose Speed in the Project Options Compiler dialog box Optimize code generation for size Optimize for speed Choose Size in the Project Options Compiler dialog box Enable type demotion checking Type demotion checking is performed Check Demotion in the Project Options Compiler dialog box Chapter 16 Command Line Interface 281 td Description Disable type demotion checking Factory Default Type demotion checking is performed GUI Equivalent Unch
9. t ipAddress tcpPort Description Default RFU GUI Equivalent Example Description Default RFU GUI Equivalent Example Select the IP address and port Serial Connection From the Setup Communications dialog box click on Use TCP IP Con nection then type in the IP address and port for the controller that is receiving the bin file or use the Discover radio button c1RFU myProgram bin t 10 10 1 100 4244 Causes the RFU version number and additional status information to be dis played Only error messages are displayed Status information is displayed by default and there is no option to turn it off c1RFU myProgram bin v cl ColdLoaderPathName Description Default RFU GUI Equivalent Example Select a new initial loader bios coldload bin From the Choose File Locations dialog box visible by selecting the menu option Setup File Locations type in a pathname or click on the ellipses radio button to browse for a file c1RFU myProgram bin cl myInitialLoader c pb PilotBiosPathName Description Select a new secondary loader Default bios pilot bin RFU GUI From the Choose File Locations dialog box visible by selecting the Equivalent menu option Setup File Locations type in a pathname or click on the ellipses radio button to browse for a file Example c1RFU myProgram bin pb mySecondaryLoader c 314 Dynamic C User s Manual Descriptio
10. xmem int func the function prototype should be xmem int func Any of the following will put the function in xmem xmem int func xmem int func or xmem int func int func or int func xmem int func In addition to flagging individual functions the xmem keyword can be used with the compiler directive memmap to send all functions not declared as root to extended memory memmap xmem This construct is helpful if an application is running out of root code space Another strategy is to use separate I amp D space Using both memmap xmem and I amp D space is not advised and might cause an application to run out of xmem depending on the size of the application and the size of the flash Chapter 13 Keywords 193 xstring Declares a table of strings in extended memory The strings are allocated in flash memory at com pile time which means they can not be rewritten directly The table entries are 20 bit physical addresses The name of the table represents the 20 bit physi cal address of the table this address is assigned to name by the compiler xstring name string 14 2 string n yield Used in a costatement this keyword causes the costatement to pause temporarily allowing other costatements to execute The yield statement does not alter program logic but merely postpones it for costate yield 194 Dynamic C User s Manual 13 1 Compiler Directives
11. 5 10 Summary oe eee eeeeeeeeeeeeeeees 67 6 Debugging with Dynamic C 69 6 1 Debugging Tools eee 70 PANEO ee Sas os peben sed Messed cuts Poveevetededds 71 Breakpoint ceesessecereeeseeeeeeees 72 Single Stepping eee 74 Watch Expressions cece 75 Evaluate Expressions 00 76 Memory Dump ssssseeseesseeseerseeseseee 77 MAP Pile eoe nuana 78 Execution Trace 80 Symbolic Stack Trace 81 Assert Macro ceeeeeceseceeeeeees 82 Miscellaneous Debugging Tools 83 6 2 Where to Look o eee eee eeteeteeeeees 85 Run and Inspect Menus 86 Options Menu eee 86 Window Menu ee eeeeeeeeeees 86 6 3 Debug Strategies eee 87 Good Programming Practices 87 Finding the Bug eee 89 Reproduce the Problem 89 Minimize the Failure Scenario 89 Other Things to Try 90 6 4 Reference to Other Debugging Information cccccccccccccceeseseseseseees 90 7 The Virtual Driver cece eee 91 7 1 Default Operation eee 91 7 2 Calling GLOBAL_INITO 91 7 3 Global Timer Variables 0 92 74 Watchdog Timers 0 0 eee 93 Hardware Watchdog eee 93 Virtual Watchdogs cece 93 7 5 Preemptive Multitasking Drivers 94 8 The Slave Port Driver eee 95 8 1 Slave Port Driver Protocol 95 OVELVIEW ea ere E ETERS 95 Registers on the Slave 95 Polling and Interrupts 97 Communication Chann
12. The entire program can be written in assembly asm main ret endasm 12 4 Embedded Assembly Code When embedded in a C function assembly code can access arguments and local variables either auto or Static by name Furthermore the assembly code does not need to manipulate the stack because the functions prolog and epilog already do so 12 4 1 The Stack Frame The purpose and structure of a stack frame should be understood before writing embedded assem bly code A stack frame is a run time structure on the stack that provides the storage for all auto variables function arguments and the return address for a particular function If the IX register is used for a frame reference pointer the previous value of IX is also kept in the stack frame Figure 12 1 shows the general appearance of a stack frame 154 Dynamic C User s Manual Stack Frame Last Auto Variable Optional Frame Reference Point Optional Return Address First Parameter pushed last Optional o Lower Addresses o o Last Parameter stack grows down Structure Ret Optional Pepa Higher Addresses Figure 12 1 General Appearance of Assembly Code Stack Frame The return address is always necessary The presence of auto variables depends on the function definition The presence of arguments and structure return space depends on the function call The stack pointer may actually point lower than the indicated ma
13. Check Sum The ChkSum field is a one byte check sum of the address It is the exclusive or result of the bytes in Last locADDR and lastlocCBR If ChkSum is not consistent with the address the program will generate a run time error and reset The check sum is maintained automatically It is initialized by GLOBAL INIT CoBegin and CoReset First Time The firsttime field is a flag that is used by a wait for or waitfordone statement It is set to 1 before the statement is evaluated the first time This aids in calculating elapsed time for the functions DelayMs DelaySec DelayTicks IntervalTick IntervalMs and IntervalSec Content The content field a union is used by the costatement or cofunction delay routines to store a delay count Check Sum 2 The ChkSum2 field is currently unused 5 4 3 Pointer to CoData Structure To obtain a pointer to a named costatement s CoData structure do the following static CoData costl allocate memory for a CoData struct static CoData pcost1 peostl amp costl1 get pointer to the CoData struct CoBegin pcostl1 initialize CoData struct costate pcost1 pcostl is the costatement name and also a pointer to its CoData structure Chapter 5 Multitasking with Dynamic C 53 5 4 4 Functions for Use With Named Costatements For detailed function descriptions please see the Dynamic C Function Reference Manual or select Function Lookup Insert from Dynamic C s Help menu
14. Compile to bin File Compiles a program and writes the image to a bin file There are 2 choices available with this option Compile to Flash and Compile to Flash Run in Ram The target configuration used in the compile is determined in the Compiler tab of the Project Options dialog From there under Default Compile Mode you can choose to use the attached target or a defined target configuration The defined target configuration is accessed by click ing on the Targetless tab which will reveal three additional tabs RTI File Specify Parameters and Board Selection To learn more about these tabs see page 262 The bin file may be used with a device programmer to program multiple targets or the Rabbit Field Utility RFU can be used to load the bin file to the target If you are creating special a program such as a cold loader that starts at address 0x0000 you can exclude the BIOS from being compiled into the bin file by unchecking the option to include it This is done by choosing Options Project Options Compiler and clicking on the Advanced button In addition to the bin file several other files are generated with this compile option For example if you compile demol c toa bin file the following files will be in the same folder as demol c DEMO1 bak backup of the application source file made at compile time when this option is enabled e demol bdl binary image download file used when loading the application t
15. Compiler directives are special keywords prefixed with the symbol They tell the compiler how to proceed Only one directive per line is allowed but a directive may span more than one line if a backslash is placed at the end of the line s There are some compiler directives used to decide where to place code and data in memory They are called origin directives and include rcodorg rvarorg and xcodorg A detailed description of origin directives may be found in the Rabbit 3000 Designer s Handbook look in the index under origin directives asm Syntax asm options Begins a block of assembly code The available options are e const When seperate I amp D space is enabled assembly constants should be placed in their own assembly block or done in C For more information see Section 12 2 2 Defining Con stants e debug Enables debug code during assembly e nodebug Disables debug code during assembly This is the default condition It is still possi ble to single step through assembly code as long as the assembly window is open e xmem Places a block of code into extended memory overriding any previous memory direc tives The block is limited to 4KB If the asm block is unmarked it will be compiled to root class Syntax class options Controls the storage class for local variables The available options are e auto Place local variables on the stack static Place local variables in permanent
16. For Rabbit Semiconductor Microprocessors Integrated C Development System User s Manual 040831 019 0125 C This manual or an even more up to date revision is available for free download at the Z World website www zworld com ii Table of Contents 1 Installing Dynamic C octet tenes 1 4 18 Program FIOW oes 32 1 1 Requirement ccccccsssesescesseeceesees 1 LOOPS merisier ae 32 1 2 ASSUMPTIONS ssssseessessiessestesssereresseesees 1 Continue and Break 33 2 Introduction to Dynamic C 3 Branching bap D NEB ite ey 21 TheN fD cC 3 4 19 Function Chaining eeeeeeeeseeeeee 36 tee Tea SENS Eo OF VO Se Seinen 4 20 Global Initialization cc0ecssseeeesseee 37 Speed areas saree aera 4 AE a N scat oneaee 38 2 2 Dynamic C Enhancements and 4 22 Headers nitan a weceess 39 Differences oin in iaa 4 i 4 23 Modules sienai earna ia 39 2 3 Dynamic C Differences Between Rabbit d Z180 6 The Parts of a Module 6 39 ANd ZI SO a8 cites tate tee ets Module Sample Coder ashe vere 41 3 Quick Tutorial scannen J Important Notes ecceseseeeeerees 42 3 1 Run DEMOL C wu eee cceceteeceeteeteesees 8 4 24 Function Description Headers 43 Single Stepping cceeceeeereeees 9 4 25 Support Files in eee 43 Watch Expression TELCO PRT 9 5 Multitasking with Dynamic Cw 45 Break points sccacsswcaeetbtvecinneieesonevties 9 aa 5 1 Cooperative Multitasking 0 45 Editing the P
17. const int i 13 j i 10 jgetsimod 10 or 3 const int k 11 j k 3 7 jgetsk mod 7 or 4 208 Dynamic C User s Manual 14 2 Assignment Operators Assignment This binary operator causes the value of the right operand to be assigned to the left operand Assignments can be cascaded as shown in this example a 10 bio agets the result of the calculation a b 0 b gets 0 and a gets 0 Addition assignment a 5 Add5 toa Same asa a 5 Subtraction assignment a 5 Subtract 5 from a Same asa a 5 Multiplication assignment a 5 Multiply a by 5 Same asa a 5 Division assignment a 5 Divide a by 5 Same asa a 5 Modulo assignment ole a 5 amod 5 Sameasa a 5 Left shift assignment a lt lt 5 Shift a left 5 bits Same as a a lt lt 5 Right shift assignment a gt gt 5 Shift aright 5 bits Same as a a gt gt 5 O Chapter 14 Operators 20 Bitwise AND assignment a amp b AND a with b Same as a a amp b Bitwise XOR assignment a b XOR a with b Same as a a b Bitwise OR assignment a b ORawith b Same as a alb 14 3 Bitwise Operators Shift left This is a binary operator The result is the value of the left operand shifted by the num ber of bits specified by the right operand int i OxFOOF j i lt lt 4 j gets OxOOFO The most significant bits of the operand are lost th
18. lt identifier gt lt address gt lt size gt lt address gt lt logical address gt lt physical address gt lt logical address gt lt 16 bit constant gt lt physical address lt 8 bit constant gt lt 16 bit constant gt lt size gt lt 20 bit constant gt lt global section gt lt global description gt lt global description gt lt scoped name gt lt address gt lt scoped name gt lt global gt l lt local static gt lt global gt lt identifier gt lt local static gt lt identifier gt lt identifier gt Comments are C style only Dynamic C User s Manual 307 308 Dynamic C User s Manual Appendix C Dynamic C Modules and Utility Programs This appendix documents the many useful and easy to use add on modules and utility programs available from Z World C 1 Dynamic C Modules All modules described here are sold separately They are available for purchase on our website www zworld com products dc DC8 buyOnline shtml Modules Documentation is provided with each module and is also available online www zworld com products dc DC8 docs shtml C 1 1 AES Encryption Advanced Encryption Standard AES is an implementation of the Rijndael Advanced Encryption Standard cipher with 128 bit key This is useful for encrypting sensitive data to be sent over unse cured network paths C 1 2 Library File Encryption Module The Library File Encryption Utility allows distribution of sensitive run
19. record record array 100 int a b c d char cc Fourscore and seven char list ABC DEFG HI define array size sizeof record 100 number of bytes in array a sizeof record 7 b array_size 700 c sizeof cc 20 d sizeof list 6 Why is sizeof list equal to 6 list is an array of 3 pointers to char and pointers have two bytes Why is sizeof cc equal to 20 and not 19 C strings have a terminating null byte appended by the compiler 216 Dynamic C User s Manual Comma operator This operator unique to the C language is a convenience It takes two operands the left operand typically an expression is evaluated producing some effect and then dis carded The right hand expression is then evaluated and becomes the result of the operation This example shows somewhat complex initialization and stepping in a for statement for i 0 j strlen s 1 i lt j i j Because of the comma operator the initialization has two parts 1 set i to 0 and 2 get the length of string s The stepping expression also has two parts increment i and decrement j The comma operator exists to allow multiple expressions in loop or if conditions The table below shows the operator precedence from highest to lowest All operators grouped together have equal precedence Table 14 1 Operator Precedence Operators A
20. typedef int fnptr create pointer to function that returns an integer main WME 38 WR dme SENEL declare var fncl as a pointer to an int function maoe EAE declare var fp2 as pointer to an int function PACIL TACEN initialize fnc1 to point to intfunc T2 LEENE p initialize fp2 to point to the same function x onL 1 2 call intfunc via fnel yw 2 3 4 call intfunc via fp2 primer Mein 52 5 print sd n y ime dmefumeline z ae y IGE UST IAW p 4 17 Argument Passing In C function arguments are generally passed by value That is arguments passed to a C function are generally copies on the program stack of the variables or expressions specified by the caller Changes made to these copies do not affect the original values in the calling program In Dynamic C and most other C compilers however arrays are always passed by address This policy includes strings which are character arrays Dynamic C passes structs by value on the stack Passing a large struct takes a long time and can easily cause a program to run out of memory Pass pointers to large structs if such problems occur For a function to modify the original value of a parameter pass the address of or a pointer to the parameter and then design the function to accept the address of the item Chapter 4 Language 31 4 18 Program Flow Three terms describe the flow of execution of a C prog
21. 172 Dynamic C User s Manual char Declares a variable or array element as an unsigned 8 bit character char c x string hello int i c char i type casting operator Chapter 13 Keywords 173 const This keyword declares that a value will be stored in flash thus making it unavailable for modifica tion const is a type qualifier and may be used with any static or global type specifier char int struct etc The const qualifier appears before the type unless it is modifying a pointer When modifying a pointer the const keyword appears after the In each of the following examples if const was missing the compiler would generate a trivial warning Warnings for const can be turned off by changing the compiler options to report seri ous warnings only Note that const is not currently permitted with return types automatic locals or parameters and does not change the default storage class for cofunctions Example 1 ptr_to_x is a constant pointer to an integer HAE Sep ime COMsic Core tO x Sz Example 2 cptr_to_i is a constant pointer to a constant integer COMSe amc 1 Se Conste ime Const Corci CO i Gail Example 3 axis a constant 2 dimensional integer array coase ime exla lal 12 3 asl ee e Example 4 struct rG int a char b 10 zedis a constant struct const struct rec zed 5 abe Example 5 cptr is a constant pointer to an integer typede
22. 195 298 modifying value 31 interrupt status s s s 228 debug sussen 183 196 298 arrange ICONS oceans 265 norst keyword s s s 183 define sssi 18 19 196 arrays sssr 27 28 31 persistent oe 228 Helif a eseeceeessesssssseetetseeteeetsee 198 characters mcs peawarh ct 22 RST 28 sone ts ac 297 HEISE oes eeeseecsseceteesseeesneeeseeesees 198 subscripts eeeseeeeeeeeeeeeees 27 single stepping 0 227 endasm 0 147 151 196 arrow keys vecessssseeesseoe 219 220 SOS eat 228 endif ossessi 198 ASTID area entar REA RARE 171 Watches window 230 Hemor en aneren na ra 197 assembly 3 147 168 227 fatal sosoonnenneneeeeeeeeeeeennannensines 196 blocks in xmem 153 Cc HE E C semen e G1 50 25 30 stand alone eee 153 Hfdef oreren cate re 198 window 157 266 i hoe ifndef eee 199 OSE OA tae f Calling ASSEMGIY sirist 193 assignment operators 209 embedded in assembly 148 include associativity oe eeeeeeeeees 205 call sequence asccesesseseeeseeeeee 269 absence Of hiersie 38 AULO ooccoecccceccccceececs 152 153 171 ates ctadadie 265 interleave sessen 199 abilesa TOA Cee EE EARE AA i storage ot yanaples aigi 154 gase ssis 35 172 176 makechain 0006 36 199 i i Aer miap uum 200 300 B Chat eiia ie 25 173 192 nodebug 183 196 298 eet nointerleave 0 eee 199 backslash V ArTAYS tiie spe it 22 OE a ae 202 character li
23. 305 PFOSTAM 0 eeceececseeeseeeees 228 bitwise exclusive OR pointer Checking 1 30 resizing columns 00 267 211 POINUETS o ssessseseeseees 22 29 31 fet sussies 159 162 bitwise inclusive OR I 211 uninitialized sses 305 eitean e si 162 complement o n 211 poll target ane nipeesennsaverestnnnensns 228 ILEA E aA E SA A eds 162 pointers se sess aeseieetourcioes 210 polling s s seeeeeeeeeerse 227 return vss 159 160 184 189 shift left lt lt cecceseseseeeees 210 positioning text seers 223 return address seseseseseeeeseee 154 shift right gt gt wee 210 PPP oa seessessssssesseeseesessesessenssin 310 REU Source veeesesssesessessseeeeees 310 COMMA ecesecesseseseseeeeeeees 217 Precompile s s s 40 201 root memory conditional operators 215 preserving registers 161 168 file system usage 137 equality operators 212 Previous error lt CTRL P gt 223 keyword oo eeececeeeseseseeees 185 equal ccecceeeeeeeees 212 primary register 153 159 161 memory MAP ou eeeeeeeeeeeee 131 not equal eeeee 212 primitive data types 17 static variables 132 in assembly essees 149 print variable address 0 152 logical operators 213 choosing a printer 221 RST 28H ooeec 227 297 logical AND amp amp 213 print TS ss ss ese sets vseeceeetetas 221 fun logical NOT vce 213 PEIN preview
24. A file is displayed in a text window when it is opened or created More than one text window may be open If the same file is in multiple windows any changes made to the file in one window will be reflected in all text windows that display that file Dynamic C supports normal Windows text editing operations A mouse or other pointing device may be used to position the text cursor select text or extend a text selection The keyboard may be used to do these same things Text may be scrolled using the arrow keys the PageUp and PageDown keys and the Home and End keys The up down left and right arrow keys move the cursor in the corresponding direction The Ctrl key works in conjunction with the arrow keys this way Ctrl Left Move cursor to previous word Ctrl Right Move cursor to next word Move editor window up text moves down one line Cursor is Ctrl Up not moved Move editor window down text moves up one line Cursor is Ctrl Down not moved The Home key may be used alone or with other keys Home Move to beginning of line Ctrl Home Move to beginning of file Shift Home Select to beginning of line Shift Ctrl Home Select to beginning of file Chapter 15 Graphical User Interface 219 The End key may be used alone or with other keys End Move to end of line Ctrl End Move to end of file Shift End Select to end of line Shift Ctrl End Select to end of
25. A jlo amp Ap will the or the be performed first Since has higher precedence than it will be performed first The expression is equivalent to a lo GC s IO gt s Parentheses can be used to force any order of evaluation The expression a io amp TOs uses parentheses to circumvent the normal order of evaluation Associativity governs the execution order of operators of equal precedence Again parentheses can circumvent the normal associativity of operators For example a aig d b c performed first a slp e el now c d is performed first int a function returning a pointer to an integer ae Ceen O p pointer to a function returning an integer Unary operators and assignment operators associate from right to left Most other operators associ ate from left to right Certain operators namely amp gt and dot can be used on the left side of an assignment to construct what is called an value For example float x char amp x 0x17 low byte of x gets value Chapter 14 Operators 205 When the data types for an operation are mixed the resulting type is the more precise IGA F Yr Be AMOS SLAP Sloe USA char c z i ff X same as float i x J k es same as k int c By placing a type name in parentheses in front of a variable the program will perform type casting or type conversion In the example above the term float i means
26. A stand alone assembly routine needs to save and restore only the registers it uses 12 7 1 Steps Followed by an ISR The CPU loads the Interrupt Priority register IP with the priority of the interrupt before the ISR is called This effectively turns off interrupts that are of the same or lower priority Generally the ISR performs the following actions 1 Save all registers that will be used i e push them on the stack Interrupt routines written in C save all registers automatically Stand alone assembly routines must push the registers explic itly 2 Determine the cause of the interrupt Some devices map multiple causes to the same interrupt vector An interrupt handler must determine what actually caused the interrupt 3 Remove the cause of the interrupt If an interrupt has more than one possible cause check for all the causes and remove all the causes at the same time 5 When finished restore registers saved on the stack Naturally this code must match the code that saved the registers Interrupt routines written in C perform this automatically Stand alone assembly routines must pop the registers explicitly 6 Restore the interrupt priority level so that other interrupts can get the attention of the CPU ISRs written in C restore the interrupt priority level automatically when the function returns However stand alone assembly ISRs must restore the interrupt priority level explicitly by call ing ipres The interrupt pr
27. Invalid printf String Invalid Pointer checking is a run time option in Dynamic C Use the compiler options command in the Options menu Pointer checking will catch attempts to dereference a pointer to unallocated mem ory However if an uninitialized pointer happens to contain the address of a memory location that the compiler has already allocated pointer checking will not catch this logic error Because pointer checking is a run time option pointer checking adds instructions to code when pointer checking is used 4 16 Pointers to Functions Indirect Calls Pointers to functions may be declared When a function is called using a pointer to it instead of directly we call this an indirect call The syntax for declaring a pointer to a function is different than for ordinary pointers and Dynamic C syntax for this is slightly different than the standard C syntax Standard syntax for a pointer to a function is returntype name argument list for example int funcl int a int b void func2 char Dynamic C doesn t recognize the argument list in function pointer declarations The correct Dynamic syntax for the above examples would be agate Srne gt 5 void func2 30 Dynamic C User s Manual You can pass arguments to functions that are called indirectly by pointers but the compiler will not check them for correctness The following program shows some examples of using function pointers
28. LA add hl sp hl now points to f1 Le all a load a now 0 to fl endasm It is crucial that SP be added to RETVAL because RETVAL is an offset from the frame refer ence point not from the current SP 160 Dynamic C User s Manual 12 6 Assembly Calling C A program may call a C function from assembly code To make this happen set up part of the stack frame prior to the call and unwind the stack after the call The procedure to set up the stack frame is described here 1 el a ae 7 Save all registers that the calling function wants to preserve A called C function may change the value of any register Pushing registers values on the stack is a good way to save their val ues If the function return is a struct reserve space on the stack for the returned structure Most functions do not return structures Compute and push the last argument if any Compute and push the second to last argument if any Continue to push arguments if there are more Compute and push the first argument if any Also load the first argument into the primary reg ister HL for int unsigned int char and pointers or BCDE for long unsigned long and float if it is of a primitive type Issue the call instruction The caller must unwind the stack after the function returns 1 Recover the stack storage allocated to arguments With no more than 6 bytes of arguments the program may pop data 2 bytes a
29. This means the costatement will execute every time it is encountered in the execution thread unless it is made inactive by CoPause It may be made active again by CoResume e init _on The costatement is initially active and will automatically execute the first time it is encountered in the execution thread The costatement becomes inactive after it completes or aborts The costatement can be made inactive by CoPause If state is absent a named costatement is initialized in a paused init_on condition This means that the costatement will not execute until CoBegin or CoResume is executed It will then execute once and become inactive again Unnamed costatements are always on You cannot specify init _on without specifying name Chapter 5 Multitasking with Dynamic C 49 5 3 3 Control Statements waitfor expression The keyword waitfor indicates a special waitfor statement and not a function call Each time waitfor is executed expression is evaluated If true non zero execution proceeds to the next statement otherwise a jump is made to the closing brace of the costatement or cofunc tion with the statement pointer continuing to point to the waitfor statement Any valid C function that returns a value can be used in a waitfor statement Figure 5 2 shows the execution thread through a costatement when a waitfor evaluates to false The diagram on the left side shows which statements are executed the first time thro
30. and 0 otherwise if i t 5 body executes if i j OK a b true when a b 212 Dynamic C User s Manual 14 6 Logical Operators Logical AND This is a binary operator that performs the Boolean AND of two values If either operand is 0 the result is 0 FALSE Otherwise the result is 1 TRUE Logical OR This is a binary operator that performs the Boolean OR of two values If either oper and is non zero the result is 1 TRUE Otherwise the result is 0 FALSE Logical NOT This is a unary operator Observe that C does not provide a Boolean data type In C logical false is equivalent to 0 Logical true is equivalent to non zero The NOT operator result is 1 if the operand is 0 The result is 0 otherwise test get _input if test 14 7 Postfix Expressions Grouping Expressions enclosed in parentheses are performed first Parentheses also enclose func tion arguments In the expression a b c 10 the term b cis evaluated first Array subscripts or dimension All array subscripts count from 0 int a 12 array dimension is 12 J alil references the ith element Chapter 14 Operators 213 The dot operator joins structure or union names and subnames in a reference to a structure or union element struct int x int y coord m coord x Right arrow Used with pointers to structures and unions instead of the dot operator typedef struct i
31. bin file using attached target in Compiler tab of Project Options dialog bf Description Undo user defined BIOS file specification Factory Default None GUI Equivalent This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Compiler tab of Project Options dialog Uncheck the User Defined BIOS File checkbox br Description Use compile mode Compile defined target configuration to bin file Factory Default Compile mode Compile to attached target GUI Equivalent Compile program F5 with Default Compile Mode set to Compile defined target configuration to bin file in Compiler tab of Project Options dialog 276 Dynamic C User s Manual h Description Factory Default GUI Equivalent Example h Description Factory Default GUI Equivalent id Description Factory Default GUI Equivalent id Description Factory Default GUI Equivalent Print program header information No header information will be printed None dccl_cmp samples demol c h o myoutputs txt Header text preceding output of program KKK K K K K K K K K K K K K K K KK K K K K K K K K K 2K K K 2 K K K K KK K K K K K K K K K 2s KK K 2K K K ok K 4 5 01 2 47 16 PM dccl_cmp exe Version 7 10P English samples demo1 c Options h o myoutputs txt Program outputs Note Version information refers to dcwd exe with the same compiler core Disable printing o
32. condition abort Chapter 13 Keywords 169 align Used in assembly blocks the align keyword outputs a padding of nops so that the next instruc tion to be compiled is placed at the boundary based on VALUE asm align lt VALUE gt endasm VALUE can have any positive integer expression or the special operands even and odd The operand even aligns the instruction on an even address and odd on an odd address Integer expressions align on multiples of the value of the expression Some examples align odd This aligns on the next odd address align 2 Aligns on a 16 bit 2 byte boundary align 4 Aligns on a 32 bit 4 byte boundary align 100h Aligns the code to the next address that is evenly divisible by 0x100 align sizeof int 4 Complex expression involving sizeof and integer constant Note that integer expressions are treated the same way as operand expressions for other asm oper ators so variable labels are resolved to their addresses not their values always on The costatement is always active Unnamed costatements are always on anymem Allows the compiler to determine in which part of memory a function will be placed anymem int func memmap anymem asm anymem endasm 170 Dynamic C User s Manual asm Use in Dynamic C code to insert one assembly language instruction If more than one assembly instruction is desired use the compiler directive asm instead int func in
33. fixed storage The default storage class is auto Chapter 13 Keywords 195 debug nodebug Enables or disables debug code compilation debug is the default condition A function s local debug or nodebug keyword overrides the global debug and nodebug directives The debug and nodebug directives only override the default debug compile mode for functions whose debug nodebug compile mode is unspecified nodebug prevents RST 28h instructions from being inserted between C statements and assembly instructions NOTE These directives do nothing if they are inside of a function This is by design They are meant to be used at the top of an application file define Syntax define name text or define name parameters text Defines a macro with or without parameters according to ANSI standard A macro without param eters may be considered a symbolic constant Supports the and macro operators Macros can have up to 32 parameters and can be nested to 126 levels endasm Ends a block of assembly code fatal Syntax fatal Instructs the compiler to act as if a fatal error The string in quotes following the directive is the message to be printed 196 Dynamic C User s Manual GLOBAL INIT Syntax GLOBAL INIT variables GLOBAL INIT sections are blocks of code that are run once before main is called They should appear in functions after variable declarations and before the first executable co
34. however this is always determined by FS2 once the file has been created Chapter 11 The Flash File System 143 11 5 2 File Names There are several functions in ZSERVER LIB that can be used to associate a descriptive name with a file The file must exist in the flash file system before using the auxiliary functions listed in the following table These functions were originally intended for use with an HTTP or FTP server so some of them take a parameter called servermask To use these functions for file naming purposes only this parameter should be SERVER_USER For a detailed description of these functions please refer to the Dynamic C s TCP IP User s Man ual or use lt Ct r1 H gt in Dynamic C to use the Library Lookup feature Table 11 2 Flash File System Auxiliary Functions Command Description sspec addfsfile Associate a name with the flash file system file number The return value is an index into an array of structures associated with the named files sspec readfile Read a file represented by the return value of sspec_addfsfile into a buffer sspec getlength Get the length number of bytes of the file sspec_getfileloc Get the file system file number 1 255 Cast return value to FILENUMBER sspec_ findname Find the index into the array of structures associated with named files of the file that has the specified name sspec_getfiletype Get file type For flash file syste
35. keyboard shortcut is lt Ctrl H gt All of these functions are in COSTATE LIB Each one takes a pointer to a CoData struct as its only parameter int isCoDone CoData p This function returns true if the costatement pointed to by p has completed int isCoRunning CoData p This function returns true if the costatement pointed to by p will run if given a continua tion call void CoBegin CoData p This function initializes a costatement s CoData structure so that the costatement will be executed next time it is encountered void CoPause CoData p This function will change CoData so that the associated costatement is paused When a costatement is called in this state it does an implicit yield until it is released by a call from CoResume or CoBegin void CoReset CoData p This function initializes a costatement s CoData structure so that the costatement will not be executed the next time it is encountered unless the costatement is declared always on 54 Dynamic C User s Manual void CoResume CoData p This function unpauses a paused costatement The costatement will resume the next time it is called 5 4 5 Firsttime Functions In a function definition the keyword firsttime causes the function to have an implicit first parameter a pointer to the CoData structure of the costatement that calls it The following firsttime functions are defined in COSTATE LIB For more information see the Dynamic C
36. s Manual enum Defines a list of named integer constants enum foo white default is 0 for the first item black willbe 1 brown will be 2 spotted 2 will be 2 striped will be 3 An enum can be declared in local or global scope The tag foo is optional but it allows further declarations enum foo rabbits To see a colorful sample of the enum keyword run samples enum c extern Indicates that a variable is defined in the BIOS later in a library file or in another library file Its main use is in module headers BeginHeader var extern int var EndHeader int var Chapter 13 Keywords 177 firsttime firsttime in front of a function body declares the function to have an implicit CoData parameter as the first parameter This parameter should not be specified in the call or the proto type but only in the function body parameter list The compiler generates the code to automati cally pass the pointer to the CoData structure associated with the costatement from which the call is made A firstime function can only be called from inside of a costatement cofunction or slice statement The De layTick function from COSTATE LIB below is an example of a firsttime function firsttime nodebug int DelayTicks CoData pfb unsigned int ticks if ticks 0 return 1 if pfb gt firsttime fb gt firsttime 0 save current ticker fb gt content ul unsig
37. the final result of expansion will be printf string s n string The operator concatenates the preceding character sequence with the following character sequence deleting any white space in between For example given the macro define set x y z x z H _ y the macro in set AASC FN 6 will expand to AASC6_FN Chapter 4 Language 19 For parameters immediately adjacent to the operator the corresponding argument is not expanded before substitution but appears as it does in the macro call 4 5 2 Nested Macro Definitions Generally speaking Dynamic C expands macro calls recursively until they can expand no more Another way of stating this is that macro definitions can be nested The exceptions to this rule are 1 Arguments to the and operators are not expanded 2 To prevent infinite recursion a macro does not expand within its own expansion The following complex example illustrates this define A B define B C define uint unsigned int define M x M x define MM x y z x y z define string something define write value fmt joxeninieie value YS samme Vya valve The code Liat fp M M A A B write string s will expand first to unsigned int z simple expansion MM A A B M M does not expand recursively Deac Tatrik VS WHat uNa sterling y value string fmt s then to unsigned int zZ A AB from A A
38. 0x42 SPShandler stream ptr while 1 bytes read SPSread stream ptr buffer 10 if bytes read SPSwrite stream ptr buffer bytes read L Chapter 8 The Slave Port Driver 123 124 Dynamic C User s Manual 9 Run Time Errors Compiled code generated by Dynamic C calls an exception handling routine for run time errors The exception handler supplied with Dynamic C prints internally defined error messages to a Win dows message box when run time errors are detected during a debugging session When software runs stand alone disconnected from Dynamic C such a run time error will cause a watchdog timeout and reset Run time error logging is available for Rabbit based target systems with bat tery backed RAM 9 1 Run Time Error Handling When a run time error occurs a call is made to exception The run time error type is passed to exception which then pushes various parameters on the stack and calls the installed error handler The default error handler places information on the stack disables interrupts and enters an endless loop by calling the xexit function in the BIOS Dynamic C notices this and halts execution reporting a run time error to the user 9 1 1 Error Code Ranges The table below shows the range of error codes used by Dynamic C and the range available for a custom error handler to use Please see section 9 2 on page 127 for more information on replacing the default erro
39. 1 ipres ret endasm There are 3 modules defined in this code The first one is responsible for the variable ticks the second and third modules define functions Get_Ticks and Inc_Ticks that access the vari able Although Inc_ Ticks is an assembly language routine it has a function prototype in the module header allowing the compiler to check calls to it Chapter 4 Language 41 If the application program calls Inc_Ticks or Get_ Ticks or both the module bodies corresponding to the called routines will be compiled The compilation of these routines triggers compilation of the module body corresponding to ticks because the functions use the variable ticks BeginHeader func a dae Suae el 5 ifdef SECONDHEADER define XYZ endif EndHeader int func _a ifdef SECONDHEADER priae NIL am iwi aCm As Na e endif BeginHeader func_b TAER EUNCEDIOF define SECONDHEADER EndHeader ifdef XYZ define FUNCTION B endif ime Swael 4 ifdef FUNCTION B primet Vr am cuMeciom 1 VAN y endif Let s say the above file is named mylibrary 1ib Ifan application has the statement use mylibrary lib and then calls func_b will the printf statement be reached The answer is no The order of compilation for module headers is sequential from the beginning of the file therefore the macro SECONDHEADER is undefined when the first module header is parsed If an application uses thi
40. 213 213 213 213 213 213 214 214 214 214 215 215 216 216 216 217 219 219 220 220 222 225 227 229 233 233 233 237 238 239 241 242 249 Project Options 250 Communications Tab 250 Compiler Tab 0 252 Debugger Tab 257 Defines Tab ee 260 Targetless Tab 262 Window Menw cece 265 Help Men ieies ireki 271 16 Command Line Interface 213 16 1 Default States 0 eee eee 275 16 2 User Input eee eeeereeees 275 16 3 Saving Output to a File oe 275 16 4 Command Line Switches 276 Switches Without Parameters 276 Switches Requiring a Parameter 284 16 3 EXAMpPlOS nenu eiren 292 17 Project Files secsiccsnucnomrnisiniira 293 17 1 Project File Names ee 293 Active Project cess eseeseeeees 293 17 2 Updating a Project File 294 17 3 Menu Selections 0 0 00 eee eee 294 17 4 Command Line Usage 295 18 Hints and Tips 297 18 1 Efficiency esinsin 297 Nodebug Keyword ee 297 In line VO woe eee eeeeeseeneeeeeneeeeee 298 18 2 Run time Storage of Data 298 User Block eee ee in 299 Flash File System n se 299 WriteFlash2 oe eee cece 299 Battery Backed RAM 299 18 3 Root Memory Reduction Tips 300 Increasing Root Code Space 300 Increasing Root Data Space 302 Appendix A Macros and Global Variables 303 Compiler Defined Macros 303 Global Variabl
41. A check mark indicates that Dynamic C will poll the target The absence of a check mark indicates that Dynamic C will not poll the target This differs from Toggle Polling in that Dynamic C will not restart polling without the user explicitly requesting it Reset Program lt Ctrl F2 gt Resets program to its initial state The execution cursor is positioned at the start of the main function prior to any global initialization and variable initialization Memory locations not covered by normal program initialization may not be reset The initial state includes only the execution point program counter memory map registers and the stack pointer The Reset Program command will not reload the program if the previ ous execution overwrites the code segment That is if your code is corrupted the reset will not be enough you will have to reload the program to the target Debug Mode lt Shift F5 gt Dynamic C 9 introduces the ability to switch back to x debug mode from edit mode without having to recompile and download Yes No the program If the source Bee ma file has been modified while in edit mode a popup dialog lets you choose whether to run the non modified code or to go ahead and recompile and download again Source code has been modified continue with switch to debug mode Close Connection If using a serial connection disconnects the programming serial port between PC and target so that the target serial port is accessible t
42. As illustrated above the function xmem2root may be used to store the table in temporary stack space This uses root code space const char name string 1 string n This does not xetring name string 1 2 string n Both methods const and xst ring create initialized data in flash at compile time so the data cannot be rewritten directly e Turn off selected debugging features Watch expressions breakpoints and single stepping can be selectively disabled on the Debugger tab of Project Options to save some root code space Chapter 18 Hints and Tips 301 e Place assembly language code into xmem Pure assembly language code functions can go into xmem asm foo root some instructions ret endasm The same function in xmem asm xmem foo _xmem some instructions lret use lret instead of ret endasm The correct calls are call foo _root andlcall foo_xmem Ifthe assembly func tion modifies the XPC register with LD XPC A it should not be placed in xmem If it accesses data on the stack directly the data will be one byte away from where it would be with a root function because 1cal1 pushes the value of XPC onto the stack 18 3 2 Increasing Root Data Space Increasing the available amount of root data space may be done in the following ways e Enable Separate Instruction and Data Space A hardware memory management scheme that uses address line inversion
43. C User s Manual 4 3 Data Data variables and constants have type size structure and storage class Basic aka primitive data types are shown below Table 4 3 Dynamic C Basic Data Types Data Type Description char 8 bit unsigned integer Range 0 to 255 OxFF int 16 bit signed integer Range 32 768 to 32 767 unsigned int 16 bit unsigned integer Range 0 to 65 535 long 32 bit signed integer Range 2 147 483 648 to 2 147 483 647 unsigned long 32 bit unsigned integer Range 0 to Pew 32 bit IEEE floating point value The sign bit is 1 for negative values The exponent has 8 bits giving exponents from 127 to float 128 The mantissa has 24 bits Only the 23 least significant bits are stored the high bit is 1 implicitly Rabbit controllers do not have floating point hardware Range 1 18 x 108 to 3 40 x 10 8 Ante Defines a list of named integer constants The integer constants are signed and in the range 32 768 to 32 767 4 3 1 Data Type Limits The following symbolic names for the hardcoded limits of the data types are defined in limits h define CHAR BIT 8 define UCHAR MAX 255 define CHAR MIN 0 define CHAR MAX 255 define MB LEN MAX il define SHRT MIN 32768 define SHRT_ MAX 32767 define USHRT MAX 65535 define INT MIN 32767 define INT MAX 32767 define UINT MAX 65535 define LONG MIN 2147483647 define LONG MAX 2147483647 define ULONG
44. Conditional operators are a three part operation unique to the C language The operation has three operands and the two operator symbols and If the first operand evaluates true non zero then the result of the operation is the second operand Otherwise the result is the third operand int i j k i j lt k 4 k The operator is for convenience The above statement is equivalent to the following if j lt k i j else 1 k If the second and third operands are of different type the result of this operation is returned at the higher precision Chapter 14 Operators 215 14 10 Other Operators The cast operator converts one data type to another A floating point value is truncated when converted to integer The bit patterns of character and integer data are not changed with the cast operator although high order bits will be lost if the receiving value is not large enough to hold the converted value unsigned i float x 10 5 char c i unsigned x igets 10 c char amp x c gets the low byte of x typedef typeA typedef typeB typeA iteml1 typeB item2 item2 typeB item1 forces item1 to be treated as a typeB The sizeof operator is a unary operator that returns the size in bytes of a variable structure array or union It operates at compile time as if it were a built in function taking an object or a type as a parameter typedef struct int x char y float z
45. EE IEE E OON OE EE i Returning a Structure nin 160 a 12 6 Assembly Calling C ceceeees 161 SSUES peat ccs EAE 194 12 7 Interrupt Routines in Assembly 162 OLA MIE as coteces ce tect she a tetescet 194 Steps Followed by an ISR 162 13 1 Compiler Directives eee 195 Modifying Interrupt Vectors AEA 163 FFASUM PO aE E EEE 195 12 8 Common Problems 00000808 168 ae a SORE SNE RES 2 a TENE PO ERD 22 195 13 Rey WONd Ste atn tien chien tices haan 169 HNO CEDUD es issetasepeaeesstectberety 196 aba don ne 169 ee Na aie a ioe i Hata cecccccccecsssssscsscsssscssesesssesees 196 ALWAYS_OD cs ceseeceeeeesteeeeeesteeeeeeees 170 ica eo ie SN see as ian Neen eee Hfnechain sn snsnrnrnrnrnrne 197 ALO ai EA es eee ete 171 1 elif bbram ae aeerauesstac hasan 171 Hees ia EE E OE E E EE io one T eos caste heaton 198 A ASG A ante ea ee A 172 PULA OT uaia ntan nen 198 char De he a a a fees es de 173 ifndef Wee teehee wesc tees TESTTE bee ee 199 soe coe Aa ik N n Entela entinlie Soe seen en ee 175 Fnointerleave ccccceeeeeeeeeee 199 COA cotta atlases baba he 175 Fake chain cccccccececceeseseseeees 199 epee E A FMEMIMADP ee ceeeeeseceeeeceeeeeseeceeeee 200 CEBU Se s coccecss eee teeticeeevessleesseostess 175 foi 176 HPLAQM A seesesesseese esses se ssesenesetee 200 precompile sees eseeseeeeees 201 fa la E EE A EE E 176 Fundef ens ean e ae 202 A E EAEE tee EAST 176 202
46. Function Reference Manual These functions should be called inside a waitfor statement because they do not yield while waiting for the desired time to elapse but instead return 0 to indicate that the desired time has not yet elapsed DelayMs IntervalMs DelaySec IntervalSec DelayTicks IntervalTick User defined firsttime functions are allowed 5 4 6 Shared Global Variables The variables SEC_TIMER MS_ TIMER and TICK TIMER are shared making them atomic when being updated They are defined and initialized in VDRIVER LIB They are updated by the periodic interrupt and are used by firsttime functions They should not be modified by an application program Costatements and cofunctions depend on these timer variables being valid for use in wait for statements that call functions that read them E g the following statement will access SEC_TIMER waitfor DelaySec 3 Chapter 5 Multitasking with Dynamic C 55 5 5 Cofunctions Cofunctions like costatements are used to implement cooperative multitasking But unlike cos tatements they have a form similar to functions in that arguments can be passed to them and a value can be returned but not a structure The default storage class for a cofunction s variables is Instance An instance variable behaves like a static variable i e its value persists between function calls Each instance of an Indexed Cofunction has its own set of instance variables The compiler directive class does
47. Gaa a a a aa a Po cit define N 1000 const float SQRT_PI 1 772453685 the square root const char label The square root of pi is int i for i 0 i lt N i printf ss f n label SQRT_PI The Editor options are detailed here All actions taken are immediately reflected in the text area at the bottom of the dialog and in any open editor windows Auto indent mode Checking this causes a new line to match the indentation of the previous line Chapter 15 Graphical User Interface 233 Use previous indention Uses the same characters for indentation that were used for the last indentation If the last indentations was 2 tabs and 4 spaces the next indentation will use the same com bination of whitespace characters Cursor through tabs With this option checked the right and left arrow keys will move the cursor through the logical spaces of a tab character If this is unchecked the cursor will move the entire length of the tab character Backspace unindents Check this to backspace through indentation levels If this is unchecked the back space will move one character at a time Show line numbers Check this to display line numbers in the text window This must be checked to acti vate the option Show line numbers on gutter Show line numbers on gutter If gutters are visible check this to display line numbers in the gutter Notepad style cursor Checking this causes the cursor to behave similar to
48. SendSerial string of characters next statement The next statement will execute after the last character is sent Chapter 5 Multitasking with Dynamic C 61 Some tasks may not have an end They are endless loops For example a task to control a servo loop may run continuously to regulate the temperature in an oven If there are a a number of tasks that need to run continuously then they can be called using a single wait fordone statement as shown below costate waitfordone Task1 Task2 Task3 Task4 to come here is an error Each task will receive some execution time and assuming none of the tasks is completed they will continue to be called If one of the cofunctions should abort then the wait fordone state ment will abort and corrective action can be taken 5 7 Timing Considerations In most instances costatements and cofunctions are grouped as periodically executed tasks They can be part of a real time task which executes every n milliseconds as shown below using costate ments enter every n milliseconds costate costate costate costate Figure 5 6 Costatement as part of real time task If all goes well the first costatement will be executed at the periodic rate The second costatement will however be delayed by the first costatement The third will be delayed by the second and so on The frequency of the routine and the time it takes to execute comprise the granu
49. These interrupt vectors and their ISRs should never be altered by the user because they are reserved for the debug kernel rst38 intvec User defined name User defined slave_intvec slave isr Fast and nonmodifiable timera_intvec User defined name User defined timerb intvec User defined name User defined inputcap intvec User defined name quad_intvec qd_isr ext0O_ intvec User defined name extl_intvec User defined name DevMateSerialISR_ Fast and nonmodifiable sera_intvec spa_isr User defined serb_intvec spb_isr serc_intvec spc_isr serd_intvec spd_isr sere _intvec spe isr serf_intvec spf isr User defined a Please note that this ISR shares the same interrupt vector as DevMateSeriallISR Using spa_isr precludes Dynamic C from communicating with the target Chapter 12 Using Assembly Language 167 12 8 Common Problems Unbalanced stack Ensure the stack is balanced when a routine returns In other words the SP must be same on exit as it was on entry From the caller s point of view the SP register must be identical before and after the call instruction Using the SP approach after pushing temporary information on the stack The SP approach for inline assembly code assumes that SP points to the low boundary of the stack frame This might not be the case if the routine pushes temporary information onto the stack Th
50. Watch Expression popup box Type k in the text entry box then click OK or Add to add the expression k to the Watch Expression kooo top of the list of watch OK Cancel Help lt Ctrl Us gt the keyboard short cut for updating the watch expressions Now press window Each time you press lt Ctrl U gt you will see the current value of k Add another expression to the watch window k 5 Then press lt Ctrl U gt several times to observe the watch expressions k and k 5 10 Dynamic C User s Manual 3 3 Run DEMO3 C The example below sample program DEMO3 C uses costatements A costatement is a way to perform a sequence of operations that involve pauses or waits for some external event to take place 3 3 1 Cooperative Multitasking Cooperative multitasking is a way to perform several different tasks at virtually the same time An example would be to step a machine through a sequence of tasks and at the same time carry on a dialog with the operator via a keyboard interface Each separate task voluntarily surrenders its compute time when it does not need to perform any more immediate activity In preemptive multi tasking control is forcibly removed from the task via an interrupt Dynamic C has language extensions to support both types of multitasking For cooperative multi tasking the language extensions are costatements and cofunctions Preemptive multitasking is accomplished with slicing or by using the
51. a teteowats 149 real time programming 3 debug run wee 224 CONINUE oo ee eee eee eee 175 writing your OWN seess 39 edite igasehsscaschansseescseestee 224 COSTALE aine snes 175 library file encryption 309 print preview oe 221 CEDUE orogens 175 Library Help lookup 43 271 modules 39 41 42 309 default wo eee 176 VNking visiiti 3 body oe 39 41 42 OO AEE 176 Vist PIES siisii hiiri 254 example sccsss ctsessseessets 41 A E NE ESE E A 176 locating errors 223 224 header 39 40 41 177 ENUM i E 177 long KEY keinten ena 39 40 ERTEM a aee aa 177 integet isiin isie 21 MOUSE o o E e E 219 firsttiMe oo eee 178 Key Word ic scc sscgscssesistescsve 182 multitasking floater io 178 lookup function 271 COOperative oo eee 45 TOD o 179 JOOP es sceiseeeesstteensettiveess 32 33 preemptive oo ee 63 BOLO eree e noaa Katea 179 breaking out of we 33 Ii Aere ea e ss spaces 180 a o E EERE 176 N INIt_OMN AA E 180 for Btseesteesteteeteseseeseesee eet 179 m A A E ams TE 18 int E 181 skipping to next pass 33 Jelinenn tn vn 18 interrupt Si Stunde tevcgeshcstetebeats 181 M in assembly onssas 152 interrupt_vector 182 Next error lt CTRL N gt 224 JONG aa 182 ACTOS osi 19 151 196 nodebug 147 183 227 230 nodebug ssssessssssesrseeseeee 183 TEStrictiONs sscscsssssseeeeeee 21 254 297 298 POTS ee eae re ge 183 with parameters
52. and runs myProgram c showing a maximum of 25 errors The command line compiler unlike Dynamic C never updates the project file it uses Any changes desired to a project file to be used by the command line compiler can be made within Dynamic C or changed by hand with an editor Making changes by hand should be done with caution using an editor which does not introduce carriage returns or line feeds with wordwrap which may be a problem if the global defines or any file pathnames are lengthy strings Be careful when changing by hand not to change any of the section names in brackets or any of the key phrases up to and including the If a macro is defined on the command line with the d switch any value that may have been defined within the project file used will be overwritten without warning or error Undefining a macro with the d switch has no consequence if it was not previously defined Chapter 17 Project Files 295 296 Dynamic C User s Manual 18 Hints and Tips This chapter offers hints on how to speed up an application and how to store persistent data at run time 18 1 Efficiency There are a number of methods that can be used to reduce the size of a program or to increase its speed Let s look at the events that occur when a program enters a function e The function saves IX on the stack and makes IX the stack frame reference pointer if the program is in the useix mode e The function creates stack space
53. another button group on the toolbar The Customize Menu Buttons window must be open to change the position of an icon on the toolbar 264 Dynamic C User s Manual 15 2 7 Window Menu Click the menu title or press lt Alt W gt to display the Window menu Window Help Minimize Restore Close T Cascade E Tile Horizontally T Tile Vertically Arange Icons A Compiler Messages Debug Windows 2 Information 1DEMO1 C Ek Stdio A Assembly F10 R Register F11 S Stack F12 LF Trace Alt F12 f Stack Trace Ctrl T You can choose to minimize restore or close all open windows or just the open debug win dow or just the open editor windows The second group of items is a set of standard Windows commands that allow the applica tion windows to be arranged in an orderly way The Compiler Messages option is a toggle for displaying that window This is only avail able if an error or warning occurred during compilation The Debug Windows option opens a second ary menu whose items are toggles for dis playing the like named debug windows You can scroll these windows to view larger por tions of data or copy information from these windows and paste the information as text anywhere More information is given below for each window At the bottom of the Window menu is a list of current windows including source code windows Click on one of these items to bring its window to the front i e make
54. as the filesystem mk II or simply as FS2 was designed to be used with a second flash memory or in SRAM FS2 allows e the ability to overwrite parts of a file the simultaneous use of multiple device types e the ability to partition devices e efficient support for byte writable devices better performance tuning e ahigh degree of backwards compatibility with its predecessor NOTE Dynamic C s low level flash memory access functions should not be used in the same area of the flash where the flash file system exists 11 1 General Usage The recommended use of a flash file system is for infrequently changing data or data rates that have writes on the order of tens of minutes instead of seconds Rapidly writing data to the flashi could result in using up its write cycles too quickly For example consider a 256K flash with 64 blocks of 4K each Using a flash with a maximum recommendation of 10 000 write cycles means a limit of 640 000 writes to the file system If you are performing one write to the flash per second in a little over a week you will use up its recommended lifetime Increase the useful lifetime and performance of the flash by buffering data before writing it to the flash Accumulating 1000 single byte writes into one multi byte write can extend the life of the flash by an average of 750 times FS2 does not currently perform any in memory buffering If you write a single byte to a file that byte will cause write ac
55. be collated or uncollated Exit lt Alt F4 gt Close Dynamic C after prompting to save any unsaved changes to open files i Dynamic C 9 introduces a new debug window for execution tracing Text from this debug window as well as the contents of the Stdio window can be automatically writ ten to a file which can then be printed Chapter 15 Graphical User Interface 221 15 2 2 Edit Menu Click the menu title or press lt Alt E gt to select the EDIT menu Dynamic C Dist 8 00Beta2 File Compile Run Inspect Options C Undo Ctrl z na oe RedG SHELE FZ A E Cut Ctrl gt lt Copy Ctrl C R Paste Ctrl V E Toggle Bookmark up Go to Bookmark Insert Code Template oh Find a Replace F6 BA Find Next F3 bad Reverse Find Next Alt F3 Gy Find in Files Grep Shift Ctrl F E Go to Line Number Ctl G Nal Previous Enor tl FAI A Mert Error EEEN abl Edit Mode Paste lt Ctrl V gt FA Undo lt Ctrl Z gt This option undoes recent changes in the active edit window The command may be repeated several times to undo multiple changes Undo operations have unlimited depth Two types of undo are supported applied to a single operation and applied to a group of the same operations 2 continuous deletes are consid ered a single operation Dynamic C only discards undo information if the Undo after save option is unchecked in the Editor dialog under Environm
56. board Go to http www zworld com support bb If you are having trouble figuring out what is happening remember to analyze the bug under vari ous conditions For example run the program without the programming cable attached Change the baud rate Change the processor speed Do bug symptoms change If they do you have more clues 6 4 Reference to Other Debugging Information There are many good references available Here are a few of them Debugging Embedded Microprocessor Systems Stuart Ball Writing Solid Code by Steve Macquire e Websites google search on debugging software At the time of this writing the following links provided some good information http Aieber www media mit edu people lieber Lieberary Softviz CACM Debugging CACM Debugging Intro html Intro http www embeddedstar com technicalpapers content d embedded1494 html e They Write the Right Stuff by Charles Fishman http www fastcompany com online 06 writestuff html 90 Dynamic C User s Manual 7 The Virtual Driver Virtual Driver is the name given to some initialization services and a group of services performed by a periodic interrupt These services are Initialization Services e Call GLOBAL INIT e Initialize the global timer variables e Start the Virtual Driver periodic interrupt Periodic Interrupt Services e Decrement software virtual watchdog timers e Hitting the hardware watchdog timer e Increment the global timer
57. check assumptions before they are used in the code This was introduced in Dynamic C 8 51 e Blinking Lights LEDs can be toggled to indicate a variety of conditions This requires a signal line connected to an LED on the board Chapter 6 Debugging with Dynamic C 69 Dynamic C 9 contains all the previous debugging tools plus some enhancements and the addition of both execution and stack tracing e Execution Trace Traces at each statement each function or customer inserted points Displays results in the Trace window The options for execution tracing are configurable This feature is disabled by default e Symbolic Stack Trace Helps customers find out the path of the program at each single step or break point By looking through the stack it is possible to recon struct the path and allow the customer to easily move backwards in the current call tree to get a better feeling for the current debugging context e Persistent Breakpoints Persistent breakpoints mean the information is retained when transitioning back and forth from edit mode to debug mode and when a file is closed and re opened e Enhanced Watch Expressions The Watches window is now a tree structure capable of showing struct members That is all members of a structure become viewable as watch expressions when a structure is added without having to add them each separately e Enhanced Memory Dumps Changed data in the Memory Dump window is highlighted in reve
58. contain data controlled by the file system in order to track the file status This second area called metadata is analogous to a directory entry of other operating systems The metadata consumes one sector per file The data and metadata for a file are usually stored in the same LX however they may be separated for performance reasons Since the metadata needs to be updated for each write operation it is often advantageous to store the metadata in battery backed SRAM with the bulk of the data on a flash device Specifying Logical Extents When a file is created the logical extent s to use for the file are defined This association remains until the file is deleted The default LX for both data and metadata is the flash device LX 1 if it exists otherwise the RAM LX If both flash and RAM are available LX 1 is the flash device and LX 2 is the RAM When creating a file the associated logical extents for the data and the metadata can be changed from the default by calling fs set _1x This functions takes two parameters one to specify the LX for the metadata and the other to specify the LX for the data Thereafter all created files are associated with the specified LXs until a new call to fs_set_1x is made Typically there will be a call to s_set_1x before each file is created in order to ensure that the new file gets created with the desired associations The file creation function fcreate may be used to specify the LX
59. costatement is initially on and will automatically execute the first time it is encountered in the execution thread The costatement becomes inactive after it completes or aborts 180 Dynamic C User s Manual int Declares variables function return values or array elements to be 16 bit integers If nothing else is specified int implies a 16 bit signed integer int i j k 16 bit signed unsigned int x 16 bit unsigned long int z 32 bit signed unsigned long int w 32 bit unsigned int funct int arg interrupt Indicates that a function is an interrupt service routine ISR All registers including alternates are saved when an interrupt function is called and restored when the interrupt function returns Writ ing ISRs in C is never recommended especially when timing is critical interrupt isr An interrupt service routine returns no value and takes no arguments Chapter 13 Keywords 181 interrupt vector This keyword intended for use with separate I amp D space sets up an interrupt vector at compile time This is its syntax interrupt vector lt INT_VECTOR NAME gt lt ISR_NAME gt A list of INT_VECTOR_NAMEs and ISR_NAMEs is found in Table 12 5 on page 167 The fol lowing code fragment illustrates how interrupt vector is used Setup an Interrupt Service Routine for Timer B asm timerb_isr ISR code ret endasm main Variables Setup ISR interrupt v
60. disables drag and drop operations i e the ability to move selected text by pressing down the left mouse button and dragging the text to a new location Center Bookmarks Check this option so that when you jump to a bookmark it is centered in the editor window Chapter 15 Graphical User Interface 235 Block indent The number of spaces used when a selected block is indented using lt Ctrl k i gt or unindented using lt Ctrl k u gt Tab stops This is a comma separated list of numbers which indicate the number of spaces per tab stop If only one number is entered say 3 then the first tab stop is 3 spaces as is each additional tab stop Every additional number in the list indicates the number of spaces for all subsequent tabs E g if the list consists of 3 6 12 the first tab stop is 3 spaces the second tab stop is 3 more spaces and all subsequent tab stops are 6 spaces Keymapping The keyboard has 5 different default key mappings Default Classic Brief Epsilon and Visual Studio Change the keymapping with this pulldown menu 236 Dynamic C User s Manual Gutter amp Margin Tab Click on the Gutter amp Margin tab to display the following dialog Environment Options Ed i Display Syntax Colors Code Templates Debug Windows Print Alerts Editor gutter Editor margin I Visible width 22 3 A visible wan fT 2 BtnF En E BinFace Color E Graytet F Sl Line Numbe
61. error The number of hardware resets since deployment e The number of watchdog time outs since deployment e The number of software resets since deployment e A checksum byte Deployment is defined as the first power up without the programming cable attached Repro gramming the board through the programming cable RFU or RabbitLink and starting the pro gram again without the programming cable attached is a new deployment 9 3 3 Configuration Macros These macros are defined at the top of Bios RabbitBios c ENABLE_ERROR_LOGGING Default 0 Disables error logging Changing this to one in the BIOS enables error logging ERRLOG_USE_REG_DUMP Default 1 Include a register dump in log entries Changing this to zero in the BIOS excludes the register dump in log entries ERRLOG_STACKDUMP_SIZE Default 16 Include a stack dump of size ERRLOG_STACKDUMP_ SIZE in log entries Changing this to zero in the BIOS excludes the stack dump in log entries ERRLOG_NUM_ENTRIES Default 78 This is the number of entries allowed in the log buffer ERRLOG_USE_MESSAGE Default 0 Exclude error messages from log entries Changing this to one in the BIOS includes error messages in log entries The default error handler makes no use of this feature Chapter 9 Run Time Errors 129 9 3 4 Error Logging Functions The run time error logging API consists of the following functions errlogGetHeaderInfo Reads error log header and formats output
62. features into an quicker to read table of GUI options And lastly Section 6 4 gives some good references for further study Dynamic C comes with robust capabilities to make debugging faster and easier The debugger is highly configurable it is easy to enable or disable the debugger features using the Project Options dialog The following features are available prior to Dynamic C 9 They are summarized here with links to more detailed descriptions e printf Display messages to the Stdio window default or redirect to a serial port May also write to a file e Breakpoints Stop execution allow the available debug windows to be exam ined Stack Assembly Dump and Register windows are always available e Single Stepping Execute one C statement or one assembly statement This is an extension of breakpoints so again the Stack Assembly Dump and Register windows are always available e Watch Expressions Keep running track of any valid C expression in the appli cation Fly over hints evaluatd any watchable statement e Memory Dump Displays blocks of raw values and their ASCII representation at any memory location can also be sent to a file e MAP File Shows a global view of the program memory usage mapping of functions global static data parameters and local auto variables macro listing and a function call graph e Assert Macro This is a preventative measure a kind of defensive programming that can be used to
63. file 15 2 Menus Dynamic C s main menu has 8 command menus as well as the standard Windows system menus An available command can be exe ak Dynamic C Dist 9 00 cuted from a menu by clicking the File Edit Compile Run Inspect Options Window Help menu and then clicking the command or by 1 pressing the Alt key to acti vate the menu bar 2 using the left and right arrow keys to select a menu 3 and using the up or down arrow keys to select a command and 4 pressing Enter It is usually more convenient to type keyboard shortcuts such as lt Ctrl H gt for the Library Function Lookup option Pressing the Esc key will make any visible menu disappear A menu can be activated by holding the Alt key down while pressing the underlined letter of the menu name For example press lt Alt F gt to activate the FILE menu 15 2 1 File Menu Click the menu title or press lt Alt F gt to select the FILE menu aeae Edit Compile Fun Inspect Options Wit Creates a blank untitled program in a new win D New Ctrl N amp a dow called the text mandow OF the editor window a Open Ctrl O If you right click anywhere in the text window a fel Save Ctrl S popup menu will appear It is available as a con Gl Save As venience for accessing some frequently used GH Save All Shift CtrleS commands g Close Ctrl F 4 Open lt Ctrl O gt Presents a dialog box to specify the name of a file seras Proj
64. for auto variables e The function sets up stack corruption checks if stack checking is enabled on e The program notifies Dynamic C of the entry to the function so that single stepping modes can be resolved if in debug mode The last two consume significant execution time and are eliminated when stack checking is dis abled or if the debug mode is off 18 1 1 Nodebug Keyword When the PC is connected to a target controller with Dynamic C running the normal code and debugging features are enabled Dynamic C places an RST 28H instruction at the beginning of each C statement to provide locations for breakpoints This allows the programmer to single step through the program or to set breakpoints It is possible to single step through assembly code at any time During debugging there is additional overhead for entry and exit bookkeeping and for checking array bounds stack corruption and pointer stores These jumps to the debugger con sume one byte of code space and also require execution time for each statement At some point the Dynamic C program will be debugged and can run on the target controller without the Dynamic C debugger This saves on overhead when the program is executing The nodebug keyword is used in the function declaration to remove the extra debugging instructions and checks nodebug int myfunc int x int z If programs are executing on the target controller with the debugging instructions present but
65. for the metadata by providing a valid LX number in the high byte of the func tion s second parameter This will override any LX number set for the metadata in fs set _1x Further Partitioning The initial default logical extents can be divided further This must be done before calling fs_init The function to create sub partitions is called s_ setup This function takes an existing LX number divides that LX according to the given parameters and returns a newly created LX number The original partition still exists but is smaller because of the division For example in a system with LX 1 as a flash device of 256K and LX 2 as 4K of RAM an initial call to fs_setup might be made to partition LX 1 into two equal sized extents of 128K each LX 1 would then be 128K the first half of the flash and LX 3 would be 128K the other half LX 2 is untouched Having partitioned once fS_ setup may be called again to perform further subdivision This may be done on any of the original or new extents Each call to fs setup in partitioning mode increases the total number of logical extents You will need to make sure that FS MAX LX is defined to a high enough value that the LX array size is not exceeded 142 Dynamic C User s Manual While developing an application you might need to adjust partitioning parameters If any parame ter is changed FS2 will probably not recognize data written using the previous parameters This problem i
66. if all values for constant_expression are false ifdef Syntax ifdef name This directive enables code compilation if name has been defined with a define directive This directive must have a matching endif 198 Dynamic C User s Manual ifndef Syntax ifndef name This directive enables code compilation if name has not been defined with a def ine directive This directive must have a matching endif interleave nointerleave Controls whether Dynamic C will intersperse library functions with the program s functions dur ing compilation together separately from the library functions nointerleave forces the user written functions to be compiled first The nointerleave directive when placed at the top of application code tells Dynamic C to compile all of the appli cation code first and then to compile library code called by the application code afterward and then to compile other library code called by the initial library code following that and so on until finished Note that the nointerleave directive can be placed anywhere in source code with the effect of stopping interleaved compilation of functions from that point on If nointerleave is placed in library code it will effectively cause the user written functions to be compiled together starting at the statement following the library call that invoked nointerleave makechain Syntax makechain chainname Creates a function chain When a program ex
67. in Dynamic C In version 7 10 the ability to single step on C statements with the Assembly window open was added Pros Cons Uses Example Single stepping allows you to closely supervise program execution at the source code level either by C statement or assembly statement This helps in tracing the logic of the program You can single step any debug gable statement Even Dynamic C library functions can be stepped into as long as they are not flagged as nodebug Single stepping is of limited use if interaction with an external device is being examined an external device does not stop whatever it is doing just because the execution of the application has been restrained Also single stepping can be very tedious if stepping through many in structions Well placed breakpoints might serve you better Single stepping is typically used when you have isolated the problem and have stopped at the area of interest using a breakpoint To single step through a program instead of running at full execution speed you must either set a breakpoint while in edit mode if you have DC 9 or compile the program without running it To compile the pro at x gram without running MS Dyna C ist 3 00 it use the Compile File Edit Compile Run Inspect Options Window menu option the key kbe Compile FS board shortcut F5 or cooo hta R the toolbar menu but o1001 RS 4E Compile to bin File gt ton pictured to the left of the C
68. in Section 15 2 4 and Section 15 2 5 respec tively These menus are where you can enable the use of several debugger features The Run menu has options for toggling breakpoints and for single stepping The Inspect menu has options for manipulating watch expressions disassembling code dumping memory and for toggling execu tion tracing For the most part a debugger feature must be enabled before it can be selected in the Run or Inspect menus or by its keyboard shortcut or toolbar menu button Most debugger fea tures are enabled by default in the Project Options dialog The disassembled code and memory dump options are the exception as they are always available to a compiled program 6 2 2 Options Menu From the Options menu in Dynamic C you can select Environment Options Project Options or Toolbars where you configure debug windows enable debug tools or customize your toolbar but tons respectively The Environment Options dialog has a tab labeled Debug Windows There are a number of con figuration options available there You can choose to have all or certain debug windows open auto matically when a program compiles You can choose font and color schemes for any debug window More important than fonts and colors you can configure most of the debug windows in ways specific to that window For example for the Assembly window you can alter which infor mation fields are visible See the section titled Debug Windows Tab on page
69. in the line When this option is unchecked double clicking will select the closest word to the left of the cursor Find text at cursor When either the Search or Replace dialogs are opened if this option is checked the word at the cursor location in the active editor window will be placed into the Text to Find edit box If this option is unchecked the edit box will contain the last search string Select found text The color of found text can be set in Options Environment Options on the Syntax Colors page Select Search Match from the Element list box then set the foreground and background colors If this box is unchecked the Search Match color scheme will be used when a match is found but the text will not be selected for copy or delete operations If this option is checked the matched text will automatically be selected so that it may be copied or deleted Use syntax highlight Check this option to enable the Display and Syntax Color choices to be active Block overwrite cursor Check this option to show the cursor as a block when an editor is placed in overwrite mode Undo after save Check this option to enable undo operations after a file has been saved With this option unchecked the undo list for a file is erased each time the file is saved Group undo Check this option to undo changes one group at a time With this option unchecked each operation is undone individually Disable dragging Checking this option
70. not change the default storage class for a cofunction s variables All cofunctions in the program are initialized when the function chain GLOBAL INIT is called This call is made by premain 5 5 1 Cofunction Syntax A cofunction definition is similar to the definition of a C function cofunc scofunc type name dim type argl type argN statement yield abort waitfor expression cofunc scofunc The keywords cofunc or scofunc a single user cofunction identify the statements enclosed in curly braces that follow as a cofunction type Whichever keyword cofunc or scofunc is used is followed by the data type returned void int etc name A name can be any valid C name not previously used This results in the creation of a structure of type CoData of the same name dim The cofunction name may be followed by a dimension if an indexed cofunction is being defined cofunction arguments argl argN As with other Dynamic C functions cofunction arguments are passed by value cofunction body A cofunction can have as many C statements including abort yield waitfor and waitfordone statements as needed Cofunctions can contain calls to other cofunctions 56 Dynamic C User s Manual 5 5 2 Calling Restrictions You cannot assign a cofunction to a function pointer then call it via the pointer Cofunctions are called using a wait fordone statement Cofunctions and the wait fordone s
71. of the run time stack It also shows the line and column at which the stack snapshot was taken It is possible to scroll back to see the progression of successive stack snapshots Dynamic C 9 introduced differences highlighting each time you single step in C or assembly changed data can be highlighted in the Stack window This is also true for the Memory Dump and Register win dows Select Trace to activate or deactivate the Trace window The fields dis played in this window were specified in the Debugger dialog box that is accessed via the Options Project Options menu see Enable Execution Tracing on page 259 E DCINPROG SAMPLES DEMO3 C Trace Action OxB3 BC 0x0000 E DCINPROG SAMPLES DEMO3 C Execute main E DCINPROG SAMPLES DEMO3 C 20 4 23391 DE OxC330 Execute main E DCINPROG SAMPLES DEMO3 C 20 12 24500 HL 0x1F72 Execute main E DCINPROG SAMPLES DEMO3 C AF OxF830 Execute main E DCINPROG SAMPLES DEMO3 C BC 0x0000 Execute kbhit E DCINPROG LIB STDIO LIB 194 2 28438 DE 0x1000 HL OxDFFB IX OxCS3B IY OxlFoO SP OxDFF9 PC OxlFC XPC Ox0030 The Trace window has a right click pop up menu An option on this menu controls the display of an additional column in the Trace window If Group v Show Repeat Count v Group repeated statements Open Source repeated statements is selected the Show Repeat wane Serel Count may also be selected and w
72. off by the user on the Debugger tab of the Project Options dialog The size of the trace buffer which determines the num ber of trace entries and whether to save the buffer to a file on program termination are also decided on the Debugger tab Execution tracing alters the timing of a program because tracing infor mation is inserted between every source statement that is executed Therefore execution tracing may not be useful in tracking down a tim ing related problem it might even cause one A good data gathering tool to use when you are not sure what is happen ing Say you have an application in which program flow deviates at some un known point that is too tedious to detect by stepping With execution tracing enabled compile the program and click Trace On in the In spect menu Run the program and stop when the deviation is known or suspected to have occurred Open the Trace window You can now fol low the execution at any point in the trace by double clicking to source or save to a file and grep for pertinent function calls or lines executed 80 Dynamic C User s Manual 6 1 9 Symbolic Stack Trace Dynamic C has always had the Stack window but the Stack Trace window is new in Dynamic C 9 The old Stack window is still available to any compiled program and being able to view the top 32 bytes of the stack could still be useful The Stack Trace window lets you see where you are and how you got there It keeps a runni
73. protect our legal rights If You have any questions write or call Z World at 530 757 4616 2900 Spafford Street Davis California 95616 1 Definitions In addition to the definitions stated in the first paragraph of this document capital ized words used in this License shall have the following meanings 1 1 Qualified Applications means an application program developed using the Software and that links with the development libraries of the Software 1 1 1 Qualified Applications is amended to include application programs developed using the Softools WinIDE program for Rabbit processors available from Softools Inc 1 1 2 The MicroC OS II uC OS ID library and sample code released with any version of Dynamic C and the Point to Point Protocol PPP library released prior to Dynamic C version 7 32 are not included in this amendment 1 1 3 Excluding the exceptions in 1 1 2 library and sample code provided with the Software may be modified for use with the Softools WinIDE program in Qualified Systems as defined in 1 2 All other Restrictions specified by this license agreement remain in force 1 2 Qualified Systems means a microprocessor based computer system which is either i manufactured by for or under license from Z WORLD or ii based on the Rabbit 2000 microprocessor or the Rabbit 3000 microprocessor Qualified Systems may not be a designed or intended to be re programmable by your customer using the Software or b compet
74. ses eeeeesnennanvennnececs 253 commandi ne ae 220 p eee eee eee eee eee differences highlighting eee 230 COPYING text voces 222 gi bl COMPTESSION 0 seeeseeeesereeees 311 costate 175 pepe pe encryption oo eee eeeeeeeeeee 309 ee bsetese cee seosseewees etss soss at address anuna 2305 266 7 mi extensions cc eee 226 costatements s es 48 55 at eursot 230 266 S 2 generated oc eeseeeree 226 ADOM 5 05 ers ies esi tees 169 do lec 32 AESH a n 178 Phare NN MENU seen rRe oria 220 dot operator 0 18 27 Keyword ossessi 175 downloadi 4 PHIM seisine iesene 221 Suspend oes 191 ERR file system 0 11 135 145 DSR check nossos 251 in primary flash ccs 139 324 Dynamic C User s Manual IN RAM oes 136 Help menu sesoses 271 lt ALT SHIFT backspace gt max of files neeese 135 hexadecimal integer 21 redoing changes 222 max file size oo eee 135 AS pinasi 153 158 159 161 lt ALT W gt multitasking oo 136 Home key o0 eee eee 219 select Window menu 265 files horizontal tiling oo 265 lt CTRL F 10 gt additional source 38 Disassemble at Cursor 230 Find Next lt F3 gt wee 223 l lt CTRL F2 gt FISM E h riaa as 178 jeans Reset Program 228 flags register oo eee 267 arranged nn 265 lt CTRL G gt flash IEEE floating point 178 GOLD iein irris 223 file system oe eects 136 if 176 lt CTRL H gt initialized variables 5 m
75. the stack frame on entry On the Rabbit this is how HL is loaded with the value in i ld hl sp SP 1i This works if func is useix however if the IX register has been changed by the user code this code will fail ld Talla EN This method works in either case because the assembler adjusts the constant SP so changing the function to nouseix with the keyword nouseix or the compiler directive nouseix will not break the code But if SP has been changed by user code e g a push it won t work ld hl sp SP 1g 2 ld b h ld S ik ld hl sp SP 1g ex de hl endasm 156 Dynamic C User s Manual 12 4 3 The Disassembled Code Window A program may be debugged at the assembly level by opening the Disassembled Code window aka the Assembly window Single stepping and breakpoints are supported in this window When the Disassembled Code window is open single stepping occurs instruction by instruction rather than statement by statement The figure below shows the Disassembled Code window for the example code asm1 c w Default Dynamic C Dist 8 00Beta2 File Edit Compile Run Inspect Options Window Help D emel Sa a Ala SPm ASR cles Address Machine Code Opcode A 1e09 D9 iepa 210000 hl 0x0000 ied CD7E1E sspixffn_ 1e10 EF 0x28 asm1i c 7 ch 0x11 1e13 329EC3 la OxC39E a 10 1e16 EF rst 0x28 3 asml c 8 J i Ox2233 1e17 213322 lad h1 0x223
76. to Serival Converter option c1RFU myProgram bin usb Disable use of USB to serial converter The use of the USB to serial converter is disabled From the Communications Options dialog box visible by selecting Setup Communications uncheck the Use USB to Serival Converter option c1RFU myProgram bin usb Description Run Ethernet discovery Don t load the bin file This option is for infor mation gathering and must appear by itself with no other options and no binary image file name RFU GUI From the Setup Communications dialog box click on the Use TCP IP Equivalent Connection radio button then on the Discover button Example c1RFU d 316 Dynamic C User s Manual Dynamic C User s Manual Part Number 019 0125 C e Printed in U S A 2004 Z World Inc All rights reserved Z World reserves the right to make changes and improvements to its products without providing notice Notice to Users Z WORLD PRODUCTS ARE NOT AUTHORIZED FOR USE AS CRITICAL COMPONENTS IN LIFE SUPPORT DEVICES OR SYS TEMS UNLESS A SPECIFIC WRITTEN AGREEMENT REGARD ING SUCH INTENDED USE IS ENTERED INTO BETWEEN THE CUSTOMER AND Z WORLD PRIOR TO USE Life support devices or systems are devices or systems intended for surgical implantation into the body or to sustain life and whose failure to perform when properly used in accordance with instructions for use provided in the labeling and user s manual can be r
77. to close a modified file Dynamic C will ask you if you wish to save the changes The file is saved when Yes is clicked or y is typed If the file is untitled there will be a prompt for a file name in the Save As dialog Any changes to the document will be discarded if No is clicked or n is typed Choosing Cancel results in areturn to Dynamic C with no action taken Project Allows a project file to be created opened saved saved as a different name and closed See Chapter 17 for all the details on project files Print Setup Displays the Page Setup dialog box Margins page orientation page numbers and header and footer properties are all chosen here The Printer Setup button is in the bottom left of the dialog box It brings up the Print Setup dialog box which allows a printer to be selected The Network button allows printers to be added or removed from the list of printers Print Preview Displays whichever file is in the active editor window in the Preview Form window showing how the text will look when it is printed You can search and navigate through the printable pages and bring up the Print dialog box Print Brings up the Print dialog box which allows you to choose a printer Only text in an editor window may be printed To print the contents of debug windows the text must be copied and pasted to an editor window As many copies of the text as needed may be printed If more than one copy is requested the pages may
78. uC OS II real time kernel that comes with Dynamic C Premier Advantages of Cooperative Multitasking Unlike preemptive multitasking in cooperative multitasking variables can be shared between dif ferent tasks without taking elaborate precautions Cooperative multitasking also takes advantage of the natural delays that occur in most tasks to more efficiently use the available processor time The DEMO3 C sample program has two independent tasks The first task prints out a message to Stdio once per second The second task watches to see if the keyboard has been pressed and prints the entered key main int secs seconds counter secs 0 initialize counter 1 while 1 endless loop First task will print the seconds elapsed 2 costate secs 4 increment counter 3 waitfor DelayMs 1000 wait one second printf d seconds n secs print elapsed seconds 4 Second task will check if any keys have been pressed costate 5 iit tasare J aort key been pressed printf key pressed c n getchar 6 end of while loop end of main Chapter 3 Quick Tutorial 11 The numbers in the left margin are reference indicators and not part of the code Load and run the program The elapsed time is printed to the Stdio window once per second Push several keys and note how they are reported The elapsed time message is printed by the costatement starting at the line m
79. updated For the pur poses of this protocol Only bit 3 needs to be examined After sending a command the master can check bit 3 which is set when the slave writes to the response register At this point the response and returned data are valid and should be read before sending a new command Performing a dummy write to the status register will clear this bit so that it can be set by the next response Pin assignments for both the Rabbit 2000 and the Rabbit 3000 acting as a slave are as follows Table 8 3 Pin assignments for the Rabbit acting as a slave Pin Function PE7 SCS chip select active low to read write slave port PB2 SWR slave write assert for write cycle PB3 SRD slave read assert for read cycle PB4 SAO low address bit for slave port registers PB5 SA1 high address bit for slave registers PB7 SLVATTN asserted by slave when it responds to a command cleared by master write to status register PAO PA7 _ slave port data bus For more details and read write signal timing see the Rabbit 2000 Microprocessor User s Manual or the Rabbit 3000 Microprocessor User s Manual 96 Dynamic C User s Manual 8 1 3 Polling and Interrupts Both the slave and the master can use interrupt or polling for the slave The parameter passed to SPinit determines which one is used In interrupt mode the developer can indicate whether the handler functions for the channels are interruptible or non
80. variables e Drive uC OS II preemptive multitasking e Drive slice statement preemptive multitasking 7 1 Default Operation The user should be aware that by default the Virtual Driver starts and runs in a Dynamic C pro gram without the user doing anything This happens because before main is called a function called premain is called by the Rabbit kernel BIOS that actually calls main Before premain calls main it calls a function named VdInit that performs the initializa tion services including starting the periodic interrupt If the user were to disable the Virtual Driver by commenting out the call to VaInit in premain then none of the services performed by the periodic interrupt would be available Unless the Virtual Driver is incompatible with some very tight timing requirements of a program and none of the services performed by the Virtual Driver are needed it is recommended that the user not disable it 7 2 Calling GLOBAL_INIT VdInit calls the function chanin GLOBAL INIT which runs all GLOBAL INIT sec tions ina program GLOBAL INIT also initializes all of the CoData structures needed by costatements and cofunctions If VdInit is not called users could still use costatements and cofunctions if the call to VdInit was replaced by a call to GLOBAL INIT but the DelaySec and DelayMs functions often used with costatements and cofunctions in waitfor statements would not work because those funct
81. will bring up a dialog box to select an existing project filename to become the active project The environment of the previous project is saved to its project file before it is replaced unless the previous project is factory dcp The BIOS will automatically be recompiled prior to the compilation of a source file within the new environment which may have a different library directory file and or a different BIOS file Choosing File Project Save will save the state of the environment to the active project file including the state of the recently used filelist and any files open in edit windows This selection is greyed out if the active project is factory dcp This option is of limited use since any project changes will be updated immediately to the file and the state of the recently used filelist and open edit windows will be updated when the project is closed for any reason Choosing File Project Save as will bring up a dialog box to select a project file name The file will be created or if it exists it will be overwritten with the current environment settings This environment will also be saved to the active project file before it is closed and its copy the newly created or overwritten project file will become active Choosing File Project Close first saves the environment to the active project file unless the active project is factory dcp and then loads the Dynamic C default project default dcp as the active
82. with macros Symbolic Stack Environment Options Project Options Windows Menu Single Stepping Debugger tab Trace Debug Windows tab Debugger tab Project Options Project Options Breakpone Debugger tab Debugger tab Buy Menu Single Stepping No configuration options Always enabled Run Menu Instruction Level Nowontisumtonopnans Project Options Run Menu Watch Expressions Environment Options Debug Windows tab Project Options Debugger tab Project Options Debugger tab Inspect Menu This feature is enabled Debug Windows tab Evaluate r when the Watch No configuration options i Inspect Menu Expression Expressions feature is enabled Map File No configuration options Always enabled Neomai panerai for compiled programs Memory Dump Environment Vprions Always enabled Inspect Menu Disassemble Code Environment Options Always enabled Inspect Menu Debug Windows tab Assert Macro Programatically Programatically Programatically printf Programatically Programatically Programatically Stdio Stack and Register windows Environment Options Debug Windows tab Always enabled Windows Menu a Keyboard shortcuts and toolbar menu buttons are shown along with their corresponding menu commands in the dropdown menus Chapter 6 Debugging with Dynamic C 85 6 2 1 Run and Inspect Menus The Run and Inspect menus are covered in detail
83. without Dynamic C attached the call to the function that handles RST 28H instructions in the vec tor table will be replaced by a simple ret instruction for Rabbit 2000 based targets For Rabbit 3000 based targets the RST 28H instruction is treated as a NOP by the processor when in debug mode The target controller will work but its performance will not be as good as when the node bug keyword is used Chapter 18 Hints and Tips 297 If the nodebug option is used for the main function the program will begin to execute as soon as it finishes compiling as long as the program is not compiling to a file Use the directive nodebug anywhere within the program to enable nodebug for all statements following the directive The debug directive has the opposite effect Assembly code blocks are nodebug by default even when they occur inside C functions that are marked debug therefore using the nodebug keyword with the asm directive is usually unnec essary 18 1 2 In line I O The built in I O functions WrPortI RdPortI BitWrPortI and BitRd Port I can be generated as efficient in line code instead of function calls All arguments must be constant A normal function call is generated if the I O function is called with any non constant arguments To enable in line code generation for the built in I O functions check the option Inline builtin I O functions in the Compiler dialog which is accessible by clicking the Compiler t
84. 131 TCP IP ossessi 252 abstract data types 25 26 Memory settings u 256 compile ade add with carry 147 variable defined in 177 BIOS cepted aware 226 add on modules 1 309 board information 225 262 263 command line 275 292 address space sses 4 131 branching cece 34 35 CITOUS esses oe oiae enpensi ris 223 AES encryption 309 break cs atacinnoie 172 189 HE panana 225 aggregate data types 27 EXAMPIE koisen 33 CO 01 6 CO 252 align nsssseeesisssssesreerersrssssseseeee 170 keyworduiioa wena saat 33 RAM So cocoa 254 302 ALT key limitations oo eee eeeeeeeeeeee 34 SPCC koreensis prre eee 4 See keystrokes out Of a 1OOP oe eee eee 33 STATUS iaria ae oae Sae a 269 ALWAYS_OD veesseeeseseseeeseeeseen 170 out of a switch statement 33 to DIN fe mnisi 226 ANYMEM srereeserrercereserersesers 170 breakpoints toleni airan aen 219 Dynamic C User s Manual 323 to Tash ics csc eivelesissercecs 225 SYMMAK wissen cdees sions enis 49 dump window ee 231 to target wo 219 225 yield toeren 194 AW ririri eisiea esi 150 compiler curly braces wee 23 Dynamic C line parsing limit 0 0 23 cursor differences 4 36 compiler directives 195 EXECULION oo eee eee 228 OXI Seer oii Mel cei eaten 221 ASM neeese 147 195 298 positioning 0 0 219 223 support files wee 43 OPTIONS oo eee 195 cutting text eee eee 222 Dynamic C modules
85. 2 Include all serial parameters in the prescribed format even if only one is being changed 1 115200 1 0 Select the Communications tab of Project Options Select the Use Serial Connection radio button Changing port from default of 1 to 2 dccl_ cmp myProgram c s 2 115200 1 0 sto SerialResponseTimeout Description Factory Default GUI Equivalent Example Time in milliseconds Dynamic C waits for a response from the target on any retry while trying to establish serial communication 300 ms None dccl_ cmp myProgram c sto 400 t NetAddress TcpName TcpPort Description Factory Default GUI Equivalent Example Use TCP with parameters defined in a contiguous colon separated format of NetAddress TcpName TcpPort Include all parameters even if only one is being changed netAddress n n n n tcpName Text name of TCP port tcpPort decimal number of TCP port None Select the Communications tab of Project Options Select the Use TCP IP Connection radio button dccl_ cmp myProgram c t 10 10 6 138 TCPName 4244 Chapter 16 Command Line Interface 291 16 5 Examples The following examples illustrate using multiple command line switches at the same time If the switches on the command line are contradictory such as mr and mf the last switch read left to right will be used Example 1 In this example all current settings of default dcp are used for the compile dcecl_ cmp samples
86. 2 SP printt fmt 2 SP __qezic 4 SP qe2 printfbuf Scanning the size column the mistake jumps out at you more readily than looking at the code maybe because you expect to see 200 and so your brain filters out the extra zero For whatever reason looking at the same information in a different format allows you to see more The size value for functions might not be accurate because it measures code distance In other words if a function spans a gap created with a 78 Dynamic C User s Manual follows action the size reported for the function will be much greater than the actual number of bytes added to the program The follows ac tion is an advanced topic related to the subject of origin directives See the Rabbit 3000 Designer s Handbook for a discussion of origin direc tives and action qualifiers The map file provides the logical and physical addresses of the program and its data The screen shot below shows a small section of demo1 map The left most column shows line numbers with address es to their immediate right Using the addresses we can reproduce the actions taken by the Memory Management Unit MMU of the Rabbit Addresses with four digits are both the logical and the physical address That is because in the logical address space they are in the base segment which always starts at zero in the physical address space You can see this for yourself by opening two dump windows one with a four digit logical ad
87. 242 for complete information on the specific options available for each window The Project Options dialog has a tab labeled Debugger This is where symbolic stack tracing execution tracing breakpoints watch expressions and instruction level single stepping are enabled These debugging tools must be enabled before they can be used Some configuration options are also set on the Debugger tab See the section titled Debugger Tab on page 257 for complete information on the configuration options available on the Debugger tab The final menu selection on the Options menu is labeled Toolbars This is where you choose the toolbars and the menu buttons that appear on the control bar See the section titled Toolbars on page 264 for instructions on customizing this area Placing the menu buttons you use the most on the control bar is not really a debugging tool but may make the task easier by offering some con venience 6 2 3 Window Menu The Window menu is where you can toggle display of debug windows See Section 15 2 7 on page 265 for more information Another selection available from the Window menu is the Infor mation window which contains memory information and the status of the last compile See Information on page 269 for full details 86 Dynamic C User s Manual 6 3 Debug Strategies Since bug free code is a trade off with time and money we know that software has bugs This section discusses ways to
88. 3 6 lela 229CC3 lad 0xC39C hl1 13 ieid EF rst 0x28 8 asmi c 9 lg 0x44556677L ieie 117766 lad de 0x6677 6 le2i 015544 lad be 0x4455 6 1e24 EDS5398C3 lad 0xC398 de 15 1e28 ED4394c3 la OxC394 be 15 le2ec EF rst 0x26 3 asmi c 10 func ich i lg le2zda EDSB98C3 la de 0xC398 13 1e31 ED4594AC3 lad be 0xC394 13 1e35 cs push be 10 1e36 DS push de 10 1e37 249CC3 lad hl Oxc39C 11 lesa ES push hl 10 1e3b 2A9EC3 lad hl OxC39E 11 le3e 2600 lad h 0x00 4 1e40 ES push hl 10 1e41 CDSO1LE call func 12 1644 oo nop 2 1e45 2708 add sp 0x08 4 xi Figure 12 2 Disassembled code window Chapter 12 Using Assembly Language 157 Instruction Cycle Time The Disassembled Code window shows the memory address on the far left followed by the code bytes for the instruction at the address followed by the mnemonics for the instruction The last column shows the number of cycles for the instruction assuming no wait states The total cycle time for a block of instructions will be shown at the lowest row in the block in the cycle time col umn if that block is selected and highlighted with the mouse The total assumes one execution per instruction so the user must take looping and branching into consideration when evaluating exe cution times 12 4 4 Local Variable Access Accessing static local variables is simple because the symbol evaluates to the address directly The following code shows for example how to load static variab
89. AX DEVICES will default to 1 2 or 3 depending on the values of FS2_ USE PROGRAM FLASH XMEM RESERVE SIZE and FS2 RAM RESERVE FS MAX LX This macro defines the maximum logical extents You must increase this value by 1 for each new partition your application creates It this is not defined in the program code it will default to FS_ MAX DEVICES For a description of logical extents please see section 11 4 2 Logical Extents LX on page 142 Chapter 11 The Flash File System 137 FS MAX FILES This macro is used to specify the maximum number of files that are allowed to coexist in the entire file system Most applications will have a fixed number of files defined so this parameter can be set to that number to avoid wasting root data memory The default is 6 files The maximum value for this parameter is 255 FS2 RAM RESERVE This BIOS defined macro determines the amount of space used for FS2 in RAM If some battery backed RAM is to be used by FS2 then this macro must be modified to specify the amount of RAM to reserve The memory is reserved near the top of RAM Note that this RAM will be reserved whether or not the application actually uses FS2 Prior to Dynamic C 7 06 this macro was defined as the number of bytes to reserve and had to be a multiple of 4096 It is now defined as the number of blocks to reserve with each block being 4096 bytes FS2 SHIFT DOESNT UPDATE FPOS If this macro is defined before the Huse fs2 1i
90. Any library that is to be used in a Dynamic C program must be listed in the file LIB DIR or another DIR file specified by the user Starting with version Dynamic C 7 05 a different DIR file may be specified by the user in the Compiler Options dialog box to facilitate working on multiple projects Application use x 1ib use y lib main function function use z 1lib function use z lib Figure 4 1 Nesting Files in Dynamic C Most libraries needed by Dynamic C programs have a use statement in the file lib default h The Modules section later in this chapter explains how Dynamic C knows which functions and global variables in a library are available for use 38 Dynamic C User s Manual 4 22 Headers The following table describes two kinds of headers used in Dynamic C libraries Table 4 4 Dynamic C Library Headers Header Name Description Make functions and global variables in the library known to Module headers Dynamic C Describe functions Function headers form the basis for function Function Description headers lookup help You may also notice some Library Description headers at the top of library files These have no special meaning to Dynamic C they are simply comment blocks 4 23 Modules A Dynamic C library typically contains several modules Modules must be understood to write efficient custom libraries Modules provide Dynamic C with the names o
91. B RCIA Tgrringt Ust Ugu Tat sonetning string something then to unsigned int zZ Is JAB R 7B printf string s n something concatenation 20 Dynamic C User s Manual and finally to unsigned int zZ C AB B gt Cc printf string s n something 4 5 3 Macro Restrictions The number of arguments in a macro call must match the number of parameters in the macro defi nition An empty parameter list is allowed but the macro call must have an empty argument list Macros are restricted to 32 parameters and 126 nested calls A macro or parameter name must conform to the same requirements as any other C name The C language does not perform macro replacement inside string literals character constants comments or within a def ine directive A macro definition remains in effect unless removed by an undef directive If an attempt is made to redefine a macro without using undef a warning will appear and the original defini tion will remain in effect 4 6 Numbers Numbers are constant values and are formed from digits possibly a decimal point and possibly the letters U L X or A F or their lower case equivalents A decimal point or the presence of the letter E or F indicates that a number is real has a floating point representation Integers have several forms of representation The normal decimal form is the most common 10 327 1000 0 An integer is long 32 bit if its magnitude ex
92. Because the compiler maintains the offsets automatically there is no need to worry about the change of offsets The SP approach discussed previously as a means of accessing stack based variables works whether a function is compiled to extended memory or not as long as the C lan guage names of local variables and arguments are used A function compiled to extended memory can use IX as a frame reference pointer as well This adds an additional two bytes to argument offsets because of the saved IX value Again the X off set approach discussed previously can be used because the compiler maintains the offsets automat ically 12 5 C Calling Assembly Dynamic C does not assume that registers are preserved in function calls In other words the func tion being called need not save and restore registers 12 5 1 Passing Parameters When a program calls a function from C it puts the first argument into HL if it has one or two bytes with register H containing the most significant byte If the first argument has four bytes it goes in BC DE with register B containing the most significant byte Only the first argument is put into the primary register while all arguments including the first pushed last are pushed on the stack 12 5 2 Location of Return Results If a C callable assembly function is expected to return a result of primitive type the function must pass the result in the primary register If the result is an int unsigned
93. CONSE QUENTIAL DAMAGES SO THE ABOVE LIMITATION OR EXCLUSION MAY NOT APPLY TO YOU IN NO EVENT SHALL Z WORLDS TOTAL LIABILITY TO YOU FOR ALL DAMAGES LOSSES AND CAUSES OF ACTION WHETHER IN CONTRACT TORT INCLUDING NEGLIGENCE OR OTHERWISE EXCEED THE AMOUNT PAID BY YOU FOR THE SOFTWARE 8 Termination This License is effective for the duration of the copyright in the Software unless terminated You may terminate this License at any time by destroying all copies of the Soft ware and its documentation This License will terminate immediately without notice from Z WORLD if You fail to comply with any provision of this License Upon termination You must destroy all copies of the Software and its documentation Except for Section 2 License all Sections of this Agreement shall survive any expiration or termination of this License Dynamic C User s Manual 321 9 General Provisions No delay or failure to take action under this License will constitute a waiver unless expressly waived in writing signed by a duly authorized representative of Z WORLD and no single waiver will constitute a continuing or subsequent waiver This License may not be assigned sublicensed or otherwise transferred by You by operation of law or oth erwise without Z WORLD s prior written consent This License shall be governed by and con strued in accordance with the laws of the United States and the State of California exclusive of the conflicts of laws principl
94. EC_BASE PERIODIC OFS 1 hl endasm When separate I amp D space is enabled INTVEC BASE points to a proxy interrupt vector table in RAM that is modifiable The code above assumes that the actual interrupt vector table pointed to by the IIR is set up to point to the proxy vector When separate I amp D space is disabled INTVEC_BASE and the IIR point to the same location The code above is an example only the default configuration for the periodic interrupt is not modifiable 164 Dynamic C User s Manual The following example from RS232 LIB illustrates the new I amp D space compatible way of mod ifying interrupt vectors The following function serAclose from Dynamic C 7 25 is not compatible with separate I amp D space asm xmem serAclose ld a iir hl spaisr_start de iir 0xe0 ld h a ld 1 0xc0O ld a 0xc9 ret in first byte ipset 1 ld hl a ld a 0x00 disable interrupts for port ld SACRShadow a ioi ld SACR a ipres lret endasm This version of serAclose in Dynamic C 7 30 is compatible with separate I amp D space asm xmem serAclose ld a Oxc9 ipset 1 ld INTVEC BASE SERA OFS a ret in first byte of spaisr_start ld a 0x00 disable interrupts for port ld SACRShadow a ioi ld SACR a ipres lret endasm Chapter 12 Using Assembly Language 165 If separate I amp D space is enabled using the modifiable interrupt vector proxy in RAM adds about 80 clock cycles of overhead to
95. ENU onise ea a e ea 177 ae OSE O E E exter ena S ANT 177 firsttiMe onnan 178 et seas ssovsseneeeeeseeeesennnanennrees a Sake Rais oainiea nea ee PE ok ees ate 202 BO ch resn Ne crost hts ouch k tea HXUMPOTE ssssssesstrsetstererststrrsersere ent 203 He A E cise 180 HZAMPOTE oo oesossessssssssssseereeeeeereeeetes 203 INItLON sssssesssssesseesnesesencseesnesenenes 180 TA Operators ian A 205 int EIEE TIR TEPER ET LOLE I NEE 181 14 1 Arithmetic Operators T tO at te 206 INCEETUPE seee iaaa 181 206 interrupt_vector ie E A S 182 i AOPE A E TTS On a Enin 189 j E A E A A 206 mana kna ee 183 EE PE E E S OOE 207 NOdEbUg seesseeseesstesesseeeneestesseeeees a E E ied an E E E 207 1X0 hc a eoe oa a e a ea AT ee a 183 e SEOANE LERET EOE ETEEN E EA r NULL A a aN a ae a 183 rT TTT TE LETT PTET TTT PTET TTT T TTT Tee TTT Tei ere e ett protected CaP tL TTA OA EOE ROPER Se ON 184 See cea tvevee vebeNive tee bee tlele ce tees Holveese eee ee sy 208 TETUN a a e E A 184 14 2 Assignment Operators 209 TOOL sissies inisee statniho iena 185 A ERON O AE E 209 s gch iN nimonia ere 185 Z A a a 186 Say EEEE TAE n SHO Esse N essteete tector 186 TS sessesssensesceeesssnneseccesssnnssssccnssnnnessess 09 SVA ae OE EE E EE 186 E N E A A 209 SIZE OT Taote a e eo eiun iis 187 Pes deseo EE ESAE AET EANA 209 Speed ssesseseecsessessssseseresssesnesessienss i oe A E E as SR a raat 209 Stale onenen n oie n ees a R ni Vo nA EE A E Rs ree 188 SST A E 202 D
96. F9 gt You will see the value of i displayed in the Stdio window repeatedly until program execution is halted You can set breakpoints while the program is running by positioning the cursor to a statement and using the lt F2 gt key If the execution thread hits the breakpoint a breakpoint will take place You can toggle the breakpoint with the lt F2 gt key and continue execution with the lt F9 gt key Starting with Dynamic C 9 you can also set breakpoints while in edit mode Breakpoint informa tion is not only retained when going back and forth from edit mode to debug mode it is stored when a file is closed and restored when the file is re opened 3 1 4 Editing the Program Press lt F4 gt to put Dynamic C into edit mode Use the Save as choice on the File menu to save the file with a new name so as not to change the original demo program Save the file as MYTEST C Now change the number 20000 in the for statement to 10000 Then use the lt F9 gt key to recom pile and run the program The counter displays twice as quickly as before because you reduced the value in the delay loop 3 2 Run DEMO2 C Go back to edit mode and open the program DEMO2 C This program is the same as the first pro gram except that a variable k has been added along with a statement to increment k by the value of i each time around the endless loop Compile and run DEMO2 C 3 2 1 Watching Variables Dynamically Press lt Ctrl W gt to open the Add
97. Figure 5 4 Execution thread with yield statement abort The abort statement causes the costatement or cofunction to terminate execution If a cos tatement is always_on the next time the program reaches it it will restart from the top If the costatement is not always_on it becomes inactive and will not execute again until turned on by some other software costate statement statement abort statement costate statement statement abort statement statement statement See a At time of abort b Next time Figure 5 5 Execution thread with abort statement A costatement can have as many C statements including abort yield and wait for state ments as needed Costatements can be nested Chapter 5 Multitasking with Dynamic C 51 5 4 Advanced Costatement Topics Each costatement has a structure of type CoData This structure contains state and timing infor mation It also contains the address inside the costatement that will execute the next time the pro gram thread reaches the costatement A value of zero in the address location indicates the beginning of the costatement 5 4 1 The CoData Structure typedef struct char CSState unsigned int lastlocADDR char lastlocCBR char ChkSum char firsttime union unsigned long ul struct unsigned int ul unsigned int u2 us content char ChkSum2 CoData 5 4 2 CoData Fields CSStat
98. LD AND ITS LICENSORS EXPRESSLY DISCLAIM ALL WARRANTIES EXPRESS IMPLIED STATUTORY OR OTHERWISE INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTIC ULAR PURPOSE AND NON INFRINGEMENT OF THIRD PARTY RIGHTS Z WORLD DOES NOT WARRANT THAT THE FUNCTIONS CONTAINED IN THE SOFTWARE WILL MEET YOUR REQUIREMENTS OR THAT THE OPERATION OF THE SOFT WARE WILL BE UNINTERRUPTED OR ERROR FREE OR THAT DEFECTS IN THE SOFTWARE WILL BE CORRECTED FURTHERMORE Z WORLD DOES NOT WAR RANT OR MAKE ANY REPRESENTATIONS REGARDING THE USE OR THE RESULTS OF THE SOFTWARE IN TERMS OF ITS CORRECTNESS ACCURACY RELIABILITY OR OTHERWISE NO ORAL OR WRITTEN INFORMATION OR ADVICE GIVEN BY Z WORLD OR ITS AUTHORIZED REPRESENTATIVES SHALL CREATE A WARRANTY OR IN ANY WAY INCREASE THE SCOPE OF THIS WARRANTY SOME JURISDICTIONS DO NOT ALLOW THE EXCLUSION OF IMPLIED WARRANTIES SO THE ABOVE EXCLUSION MAY NOT APPLY TO YOU 7 Limitation of Liability YOU AGREE THAT UNDER NO CIRCUMSTANCES INCLUD ING NEGLIGENCE SHALL Z WORLD BE LIABLE FOR ANY INCIDENTAL SPECIAL OR CONSEQUENTIAL DAMAGES INCLUDING DAMAGES FOR LOSS OF BUSINESS PROFITS BUSINESS INTERRUPTION LOSS OF BUSINESS INFORMATION AND THE LIKE ARISING OUT OF THE USE AND OR INABILITY TO USE THE SOFTWARE EVEN IF Z WORLD OR ITS AUTHORIZED REPRESENTATIVE HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES SOME JURISDICTIONS DO NOT ALLOW THE LIMITATION OR EXCLUSION OF LIABILITY FOR INCIDENTAL OR
99. MAX 4294967295 Chapter 4 Language 17 4 4 Names Names identify variables certain constants arrays structures unions functions and abstract data types Names must begin with a letter or an underscore _ and thereafter must be letters digits or an underscore Names may not contain any other symbols especially operators Names are dis tinct up to 32 characters but may be longer Names may not be the same as any keyword Names are case sensitive Examples my function ok _block ok cSt 32 ok jumper not ok uses a minus sign 3270type not ok begins with digit Cleanup the data now These names are not distinct in DC 6 19 Cleanup the data_later but are distinct in all later versions References to structure and union elements require compound names The simple names in a com pound name are joined with the dot operator period cursor loc x 10 set structure element to 10 Use the define directive to create names for constants These can be viewed as symbolic con stants See Section 4 5 Macros define READ 10 define WRITE 20 define ABS 0 define REL il define READ ABS READ ABS define READ REL READ REL The term READ ABS is the same as 10 0 or 10 and READ_REL is the same as 10 1 or 11 Note that Dynamic C does not allow anything to be assigned to a constant expression READ ABS 27 produces compiler error To accomplish the above statement do the following u
100. METER DEFINITION DELIMETER DEFINITION DEFINITION MACRONAME WS WS VALUE DELIMETER or newline MACRONAME the same as for a macro name in a source file WS SPACE SPACET VALUE CHR CHR CHR any character except the delimeter character which is entered as the charac ter pair Notes e Do not continue a definition in this window with simply continue typing as a long line will wrap e In this window hitting the Tab key will not enter a tab character t but will tab to the OK button e The command line compiler honors all macros defined in the project file that it is directed to use with the project file switch pf or default dcp if pf is not used See command line compiler documentation e A macro redefined on the command line will supercede the definition read from the project file 260 Dynamic C User s Manual Examples and file equivalents Example DEF 1 MAXN 10 DEF2 Equivalent define DEF1 define MAXN 10 define DEF2 Example DEF1 MAXN 10 DEF2 Equivalent define DEF1 define MAXN 10 define DEF2 Example STATEMENT A B C DEF1 10 Equivalent define STATEMENT A B C define DEF1 10 Example STATEMENT A B C FORMATSTR name s n DEF1 10 Equivalent define STATEMENT A B C define FORMATSTR name s n define DEF1 10 Chapter 15 Graphical User Interface 261 Targetless Tab Click on the Target
101. Notepad Cursor beyond EOF Check this option to move the cursor past the end of the file Cursor beyond EOL Check this option to move the cursor past the end of the line Selection beyond EOL Check this option to select text beyond the end of the line Keep trailing blanks Check this option to keep extra spaces and tabs at the end of a line when a new line is started Persistent blocks Check this option to keep selected text selected when you move the cursor using the arrow keys Using the mouse to move the cursor will deselect the block of text Using menu commands or keyboard shortcuts will affect the entire block of selected text For example pressing lt Ctrl X gt will cut the selected block But pressing the delete key will only delete one character to the right of the cursor If this option was unchecked pressing the delete key would delete all the selected text If this option is checked and the Find or Replace dialog is opened with a piece of text selected in the active edit window the search scope will default to that bit of selected text only 234 Dynamic C User s Manual Overwrite blocks Check this option to enable overwriting a selected block of text by pressing a key on the keyboard The block of text may be overwritten with any character including whitespaces or by pressing delete or backspace Double click line Check this option to allow an entire line to be selected when you double click at any position
102. O subtract empty loop time and convert to time for single pass T2 T2 T1 float N multiply by 1000 to convert milliseconds to microseconds printf time to execute test code f us n T2 1000 0 92 Dynamic C User s Manual 7 4 Watchdog Timers Watchdog timers limit the amount of time your system will be in an unknown state 7 4 1 Hardware Watchdog The Rabbit CPU has one built in hardware watchdog timer The Virtual Driver hits the watchdog timer WDT periodically The following code fragment could be used to disable this WDT asm ld a 0Ox51 ioi ld WDTTR a ld a 0x54 ioi ld WDTTR a endasm However it is recommended that the watchdog not be disabled This prevents the target from entering an endless loop in software due to coding errors or hardware problems If the Virtual Driver is not used the user code should periodically call hitwd When debugging a program if the program is stopped at a breakpoint because the breakpoint was explicitly set or because the user is single stepping then the debug kernel hits the hardware watchdog periodically 7 4 2 Virtual Watchdogs There are 10 virtual WDTs available they are maintained by the Virtual Driver Virtual watch dogs like the hardware watchdog limit the amount of time a system is in an unknown state They also narrow down the problem area to assist in debugging The function VaGet FreeWd count allocates and initializes a virtual watchdog The retu
103. OS II must not be used in the same program 94 Dynamic C User s Manual 8 The Slave Port Driver The Rabbit family of microprocessors has hardware for a slave port allowing a master controller to read and write certain internal registers on the Rabbit The library SLaveport 1ib imple ments a complete master slave protocol for the Rabbit slave port Sample libraries Master _serial liband Sp_stream 1ib provide serial port and stream based communi cation handlers using the slave port protocol 8 1 Slave Port Driver Protocol Given the variety of embedded system implementations the protocol for the slave port driver was designed to make the software for the master controller as simple as possible Each interaction between the master and the slave is initiated by the master The master has complete control over when data transfers occur and can expect single immediate responses from the slave 8 1 1 Overview 1 Master writes to the command register after setting the address register and optionally the data register These registers are internal to the slave 2 Slave reads the registers that were written by the master 3 Slave writes to command response register after optionally setting the data register This also causes the SLAVEATTN line on the Rabbit slave to be pulled low 4 Master reads response and data registers 5 Master writes to the slave port status register to clear interrupt line from the slave 8 1 2 Re
104. RdIOport END DESCRIPTION XkK kkk kkk KKK kk kkk KKK kkk kkk kkk kkk If this format is followed user created library functions will show up in the Function Lookup facility if the library is listed in 1ib dir or its replacement Note that these sections are scanned in only when Dynamic C starts 4 25 Support Files Dynamic C has several support files that are necessary in building an application These files are listed below Table 4 5 Dynamic C Support Files File Name Purpose of File DCW CFG Contains configuration data for the target controller DC HH Contains prototypes basic type definitions define and default modes for Dynamic C This file can be modified by the programmer DEFAULT H Contains a set of use directives for each control product that Z World ships This file can be modified LIB DIR Contains pathnames for all libraries that are to be known to Dynamic C The programmer can add to or remove libraries from this list The factory default is for this file to contain all the libraries on the Dynamic C distribu tion disk Any library that is to be used in a Dynamic C program must be listed in the file LIB DIR or another DIR file specified by the user Starting with version Dynamic C 7 05 a different DIR file may be specified by the user in the Compiler Options dialog to facilitate working on multiple projects PROJECT DCP DEFAULT DCP These fi
105. SP_STREAM LIB 118 Dynamic C User s Manual SPSread int SPSread SPStream stream void data int length unsigned long tmout DESCRIPTION Reads length bytes from the slave port input buffer or until tmout milliseconds transpires between bytes If no data is available when this function is called it will re turn immediately This function will call SPt ick if the slave port is in polling mode This function is non reentrant PARAMETERS stream Pointer to the stream state structure data Buffer to read received data into length Maximum number of bytes to read tmout Time to wait between received bytes before returning RETURN VALUE Number of bytes read into the data buffer LIBRARY SP_ STREAM LIB Chapter 8 The Slave Port Driver 119 SPSwrite int SPSwrite SPSream stream void data int length DESCRIPTION This function transmits length bytes to slave port output buffer If the slave port is in polling mode this function will call SPtick while waiting for the output buffer to empty This function is non reentrant PARAMETERS stream Pointer to the stream state structure data Bytes to write to stream length Size of write buffer RETURN VALUE Number of bytes written into the data buffer LIBRARY SP_STREAM LIB 120 Dynamic C User s Manual SPSwrFree int SPSwrFree DESCRIPTION Returns number of free bytes in the stream write buffer RETURN VALUE Space available in the
106. S_TIMER This unsigned long variable is initialized to zero The periodic interrupt updates MS_TIMER every millisecond This variable is initialized by the Virtual Driver when a program starts TICK_TIMER This unsigned long variable is initialized to zero The periodic interrupt updates TICK_TIMER 1024 times per second This variable is initialized by the Virtual Driver when a program starts Dynamic C User s Manual 305 A 3 Exception Types These macros are defined in errors 1lib define define define define define define define define define define define define define define define define define define define ERR BADPOINTER ERR _BADARRAYINDEX ERR_ DOMAIN ERR RANGE ERR FLOATOVERFLOW ERR LONGDIVBYZERO ERR LONGZEROMODULUS ERR BADPARAMETER ERR_INTDIVBYZERO ERR UNEXPECTEDINTRPT ERR CORRUPTEDCODATA ERR VIRTWDOGTIMEOUT ERR BADXALLOC ERR BADSTACKALLOC ERR BADSTACKDEALLOC ERR BADXALLOCINIT ERR NOVIRTWDOGAVAIL ERR INVALIDMACADDR ERR INVALIDCOFUNC A 4 Rabbit Registers Macros are defined for all of the Rabbit registers that are accessible for application programming A list of these register macros can be found in the user s manuals for the Rabbit microprocessor as well as in the Rabbit Registers file accessible from the Dynamic C Help menu A 4 1 Shadow Registers Shadow registers exist for many of the I O registers They are character variables defined in the BIOS The naming conventi
107. aE E E 189 Library File Encryption 309 enable tracing ee 258 switching to edit mode 224 Rabbit Field Utility 310 313 enter function 297 symbol information 307 frame 154 155 160 161 168 symbolic constant 196 V frame reference point 160 variables frame reference pointer 158 T ant 171 159 183 297 target information 225 262 263 ploba eee oe tees eee 28 function arguments Ee SAD IM guesses easton tact 252 StAHC Sosceoaniniattsinaseeencten 187 function returning struct 160 text editing ccccsssssssseeeeeere 222 vertical tiling 265 ISR iol AeA 162 text Search in eae 223 virtual watchdogs eeee 93 local arabes ae 158 171 iting windows wesc 265 NOUSEIX oeeeececesesesseeseeeseees 183 toggle WwW pointer SP 155 160 161 breakpoint ssssssss11151511111 228 Walton vasisi 191 168 202 toolbar 264 AU yea ees eh ag waitfordone cceeeeeeeee 191 snapshots sssssesseeses ees 268 tace INO erain 227 tace window shook 248 269 oaea 13 warning reports EEA 253 unbalanced cccceee 168 GA Se oe watch expressions Saou 268 8 add or delete 000 229 EE OSAA ag all statements 259 bl 258 STACKSEG eee 131 bitter See 259 CMD IC ayipada eateaaching KESEN te sams watch menu option 265 effect on performance 232 twind 229 example NEE NENNEN EAN 47 enablin 259 wat
108. ab in the Project Options dialog 18 2 Run time Storage of Data Data that will never change in a program can be put in flash by initializing it in the declarations The compiler will put this data in flash See the description of the const xdata and xstring keywords for more information If data must be stored at run time and persist between power cycles there are several ways to do this using Dynamic C functions e User Block Recommended method for storing non file data Factory stored calibration constants live in the User block for boards with analog I O Space here is limited to as small as K sizeof SysIDBlock bytes or less if there are calibration constants e Flash File System The file system is best for storing data that must be organized into files or data that won t fit in the User block It is best used on a second flash chip It is not possible to use a second flash for both extra program code that doesn t fit into the first flash and the file system The macro USE_2NDFLASH_ CODE must be uncommented in the BIOS to allow programs to grow into the second flash this precludes the use of the file sys tem e WriteFlash2 This function is provided for writing arbitrary amounts of data directly to arbitrary addresses in the second flash e Battery Backed RAM Storing data here is as easy as assigning values to global variables or local static variables The file system can also be configured to use RAM The life
109. abetical list of instructions for the Rabbit family of microprocessors I O Registers Invokes an on line help system that provides the bit values for all of the Rabbit I O registers Keystrokes Invokes an on line help system and displays the keystrokes page Although a mouse or other pointing device may be convenient Dynamic C also supports operation entirely from the key board Contents Invokes an on line help system and displays the contents page From here view explanations of various features of Dynamic C Tech Support Opens a browser window to the Rabbit Semiconductor Technical Support Center web page which contains links to user forums downloads for Dynamic C and information about 3rd party software vendors and developers Register Dynamic C Allows you to register your copy of Dynamic C A dialog is opened for entering your Dynamic C serial number From there you will be guided through the very quick registration process Tip of the Day Brings up a window displaying some useful information about Dynamic C There is an option to scroll to another screen of Dynamic C information and an option to disable the feature This is the same window that is displayed when Dynamic C initializes About The About command displays the Dynamic C version number and the registered serial num ber Chapter 15 Graphical User Interface 273 274 Dynamic C User s Manual 16 Command Line Interface The Dynamic C command line comp
110. ad by the command line compiler and the same macro name is redefined on the command line the command line definition will generate a warning A macro previously defined must be undefined with the d switch before redefining it Undefining a macro that has not been defined has no consequence and so is always safe although possibly unnecessary In the example all compilation settings are taken from the project file specified except that now the macro MAXCHARS was first undefined before being redefined None None decl_ cmp myProgram c pf myproject d MAXCHARS d MAXCHARS 512 eto EthernetResponseTimeout Description Factory Default GUI Equivalent Example Time in milliseconds Dynamic C waits for a response from the target on any retry while trying to establish Ethernet communication 8000 milliseconds None dccl_ cmp myProgram c eto 6000 i InputsFilePathname Description Execute a program that requires user input by supplying the input in a text file Each input required should be entered into the text file exactly as it would be when entered into the Stdio Window in dcwd exe Extra input is ignored and missing input causes dccl_cmp to wait for keyboard input at the command line Factory Default None GUI Equivalent Using i is like entering inputs into the Stdio Window Example dccl_ cmp myProgram c i MyInputs txt 286 Dynamic C User s Manual If LibrariesFilePathname Description Factory Defa
111. aken to compile the program Compile speed Average speed of compilation measured in lines compiled per minute Board ID A number identifying the board type A list of board types is at Lib default h Note that some of the memory areas described here may be non contiguous e g 2 flash compiles and the XMEM code area with separate I amp D If an application is large enough to span into the non contiguous part of an area the values presented in the Information window for that area are not accurate 270 Dynamic C User s Manual 15 2 8 Help Menu Click the menu title or press lt Alt H gt to select the HELP menu The choices are given below Online Documentation Opens a browser page and displays a file with links to other manuals When installing Dynamic C from CD this menu item points to the hard disk after a Web upgrade of Dynamic C this menu item optionally points to the Web Keywords Opens a browser page and displays an HTML file of Dynamic C keywords with links to their descriptions in this manual Operators Opens a browser page and displays an HTML file of Dynamic C operators with links to their descriptions in this manual HTML Function Reference Opens a browser page and displays an HTML file that has two links one to Dynamic C func tions listed alphabetically the other to the functions listed by functional group Each function listed is linked to its description in the Dynamic C Funct
112. al User Interface 239 Element In this text box are the different elements that may be in a file strings comments integers etc For each one you may choose a foreground and a background color You may also opt to use the default colors black for foreground and white for back ground In the Text attribues area of the dialog box you may set Bold Italic and or Underline for the any of the elements Open Save Buttons These buttons load and save color styles into files with a rgb extension Clicking the Open button will bring up an Open File dialog box where you choose a rgb file that will set all of the syntax colors There is a subdirectory titled Schemes under the root Dynamic C directory that has some predefined color schemes that can be used Open ing a rgb file makes its colors immediately active in all open editor windows If you close the Environment Options window without saving the changes the colors will go back to whatever they were before you opened the rgb file 240 Dynamic C User s Manual Code Templates Tab Click the Code Template tab to display the following dialog Environment Options x Editor Gutter amp Margin Display Syntax Colors Code Templates Debug Windows Print Alerts ipti Edit for statement function declaration Delete if stat t i statemen ae if else structure declaration i witch statement while statement libheader Library Header libdescription Libr
113. al programming cable provided in all Rabbit product development kits This method has numerous advantages e A socketed flash is no longer needed BIOS updates can be made without a flash EPROM burner since Dynamic C can communicate with a target that has a blank flash EPROM Blank flash EPROM can be surface mounted onto boards reducing manufacturing costs for both Z World and other board developers BIOS updates can then be made available on the Web e Advanced users can see and modify the BIOS kernel directly e Board developers can design Dynamic C compatible boards around the Rabbit CPU by simply following a few simple design guidelines and using a skeleton BIOS provided by Z World e A major feature is the ability to program and debug over the Internet or local Ethernet This requires the use of a RabbitLink board available alone or as an option with Rabbit based devel opment kits 6 Dynamic C User s Manual 3 Quick Tutorial Sample programs are provided in the Dynamic C Samples folder which is in the root directory where Dynamic C was installed The Samples folder contains many subfolders as shown in Figure 1 Sample programs are provided in source code format You can open the source code file in Dynamic C and read the comment block at the top of the sample program for a description of its purpose and other details Comments are also provided throughout the source code This docu mentation provided by the software engi
114. alent Select Code and BIOS in Flash Run in RAM in the Project Options Compiler dialog box mr Description Memory BIOS setting RAM Factory Default Memory BIOS setting Flash GUI Equivalent Select Code and BIOS in RAM in the Project Options Compiler dialog box 278 Dynamic C User s Manual N Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent rb Description Factory Default GUI Equivalent rb Description Factory Default GUI Equivalent Null compile for errors and warnings without running the program The program will be downloaded to the target Program is run Select Compile Compile or use the keyboard shortcut lt F5 gt Use compile mode Compile to attached target Compile mode Compile to attached target Run program F9 Include BIOS when compiling to a file BIOS is included if compiling to a file This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check Include BIOS Do not include BIOS when compiling to a file BIOS is included if compiling to a file This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Uncheck Include BIOS Chapter 16 Command Line Interface 279 rd Description Include debug code when com
115. alue of a larger or more complex type to the value of a smaller or less complex type The increasing order of complexity of scalar types is char unsigned int int unsigned long long float A demotion deserves a warning because information may be lost in the conver sion For example when a long variable whose value is 0x 10000 is converted to an int value the resulting value is 0 The high order 16 bits are lost An explicit type casting can eliminate demotion warnings All demotion warnings are considered non serious as far as warning reports are concerned e Pointer Generates warnings if pointers to different types are intermixed with out type casting While type casting has no effect in straightforward pointer assignments of different types type casting does affect pointer arithmetic and pointer dereferences All pointer warnings are considered non serious as far as warning reports are concerned Warning Reports This tells the compiler whether to report all warnings no warnings or serious warn ings only It is advisable to let the compiler report all warnings because each warning is a potential run time bug Demotions such as converting a long to an int are considered non serious with regard to warning reports Chapter 15 Graphical User Interface 253 Optimize For Allows for optimization of the program for size or speed When the compiler knows more than one sequence of instructions that perform the same action it sel
116. alue of all registers This includes alternate registers SP and XPC This is a global option that is enabled by default An 8 byte message This is a global option that is disabled by default The default error handler does nothing with this A user definable length of stack dump This is a global option that is enabled by default A one byte checksum of the entry The size of the error log buffer is determined by the number of entries the size of an entry and the header information at the beginning of the buffer The number of entries is determined by the macro ERRLOG_NUM_ ENTRIES default is 78 The size of each entry is dependent on the set tings of the global options for stack dump register dump and error message The default size of the buffer is about 4K in extended RAM 128 Dynamic C User s Manual 9 3 2 Initialization and Defaults An initialization of the error log occurs when the BIOS is compiled when cloning takes place or when the BIOS is loaded via the Rabbit Field Utility RFU By default error logging is disabled The error log buffer contains header information as well as an entry for each run time error A debug start up will zero out this header structure but the run time error entries can still be exam ined from Dynamic C using the static information in flash The header is at the start of the error log buffer and contains e A status byte The number of errors since deployment e The index of the last
117. and the high byte contains the returned data if there is any LIBRARY This is a developer supplied function 100 Dynamic C User s Manual SPtick void SPtick void DESCRIPTION This function must be called periodically when the slave port is used in polling mode LIBRARY SLAVE PORT LIB Chapter 8 The Slave Port Driver 101 SPclose void SPclose void DESCRIPTION This function disables the slave port driver and unloads the ISR if one was used LIBRARY SLAVE PORT LIB 8 3 Examples The rest of the chapter describes some useful handlers 8 3 1 Status Handler SPstatusHandler available in Slave port 1ib is an example of a simple handler to report the status of the slave To set up the function as a handler on slave port address 12 do the following SPsetHandler 12 SPstatusHandler amp status_ char Sending any command to this handler will cause it to respond with a 1 in the response register and the current value of status_char in the data return register 102 Dynamic C User s Manual 8 3 2 Serial Port Handler Slave _port 1ib contains handlers for all serial ports A B C and D on the slave Master _serial 1ib contains code for a master using the slave s serial port handler This library illustrates the general case of implementing the master side of the master slave protocol 8 3 2 1 Commands to the Slave Table 8 4 Commands that the master can send to the slave
118. and Partitioning the File System This step merits some thought before plowing ahead The context within which the file system will be used should be considered For example if the target board contains both battery backed SRAM and a second flash chip then both types of storage may be used for their respective advan tages The SRAM might be used for a small application configuration file that changes frequently and the flash used for a large log file FS2 automatically detects the second flash device if any and will also use any SRAM set aside for the file system if FS2_ RAM RESERVE is set 11 4 1 Initial Formatting The filesystem must be formatted when it is first used The only exception is when a flash memory device is known to be completely erased which is the normal condition on receipt from the fac tory If the device contains random data then formatting is required to avoid the possibility of some sectors being permanently locked out of use Formatting is also required if any of the logical extent parameters are changed such as changing the logical sector size or re partitioning This would normally happen only during application development The question for application developers is how to code the application so that it formats the file system only the first time it is run There are several approaches that may be taken e A special program that is loaded and run once in the factory before the application is loaded The s
119. and data spaces Default Compile Mode Compile to attached target Compile defined target configuration to bin file Compile to bin file using attached target Inline 1 0 Inline builtin 1 0 functions Advanced oa e 252 Dynamic C User s Manual Run Time Checking These options if checked can allow a fatal error at run time They also increase the amount of code and cause slower execution but they can be valuable debugging tools e Array Indices Check array bounds This feature adds code for every array ref erence e Pointers Check for invalid pointer assignments A pointer assignment is invalid if the code attempts to write to a location marked as not writable Loca tions marked not writable include the entire root code segment This feature adds code for every pointer reference Type Checking This menu item allows the following choices e Prototypes Performs strict type checking of arguments of function calls against the function prototype The number of arguments passed must match the number of parameters in the prototype In addition the types of arguments must match those defined in the prototype Z World recommends prototype checking because it identifies likely run time problems To use this feature fully all functions should have prototypes including functions implemented in assembly e Demotion Detects demotion A demotion automatically converts the v
120. and you can examine its entries The Trace window can be opened anytime after the program is compiled but execution speed is slightly affected if the window is open while the program is run ning Toolbars gt 12 Dynamic C User s Manual 3 4 1 Trace Macros Trace macros provide more fine grained control than the menu options _TRACE The TRACE macro creates one entry in the trace buffer containing the program state information at the time the macro executes It is useful if you want to monitor one statement closely rather than follow the flow of part of a program In Demo4 c TRACE is executed at lines 45 and 77 as you can see in the screenshot in Figure 3 E DCINPROG SAMPLES DEMO4 C Trace Action Function File Name Line Col Execute DEMO4 C C C C C C C sG C C C C C C C sG C C a Figure 3 Trace window contents after running Demo4 c The TRACE macro does not affect the TRACEON and TRACEOFF macros and likewise is not affected by them It will execute regardless of whether tracing is turned on or off An interesting thing to note about TRACE is that it generate a trace statement even when it appears in a node bug function _TRACEON The _TRACEON macro turns on tracing This does not cause any information to be recorded by itself like the TRACE macro but rather causes a change of state within the debug kernel so that program state information is recorded for program and libra
121. ariable to have a permanent fixed location in memory as opposed to auto where the variable exists on the system stack Global variables are by definition static Local variables are auto by default int func int i auto by default Static float x explicitly static Chapter 13 Keywords 187 struct This keyword introduces a structure declaration which defines a type struct 4 int x int y int Zz thing1 defines the variable thing to be a struct struct speed int x int y int zZ iz struct speed thing2 declares a struct type named speed defines variable thing2 to be of type speed Structure declarations can be nested struct struct speed slow struct speed slower tortoise defines the variable tortoise to be a nested struct struct rabbit struct speed fast struct speed faster struct rabbit chips declares a nested struct type named rabbit defines the variable chips to be of type rabbit 188 Dynamic C User s Manual switch Indicates the start of a switch statement switch expression case consti break case const2 break case const3 break default The switch statement may contain any number of cases The constants of the case statements are compared with expression If there is a match the statements for that case execute The default case if it is present executes if none of the constants of the case statements mat
122. arked 2 Costate ments need to be executed regularly often at least every 25 ms To accomplish this the costate ments are enclosed in a while loop The while loop starts at 1 and ends at 6 The statement at 3 waits for a time delay in this case 1000 ms one second The costatement executes each pass through the while loop When a wait for condition is encountered the first time the cur rent value of MS_TIMER is saved and then on each subsequent pass the saved value is compared to the current value If a wait for condition is not encountered then a jump is made to the end of the costatement 4 and on the next pass of the loop when the execution thread reaches the begin ning of the costatement execution passes directly to the wait for statement Once 1000 ms has passed the statement after the wait for is executed A costatement can wait for a long period of time but not use a lot of execution time Each costatement is a little program with its own state ment pointer that advances in response to conditions On each pass through the while loop as few as one statement in the costatement executes starting at the current position of the costate ment s statement pointer Consult Chapter 5 Multitasking with Dynamic C for more details The second costatement in the program checks to see if an alpha numeric key has been pressed and if one has prints out that key The abort statement is illustrated at 5 If the abort state ment is exe
123. ary Description funedescription Function Description Main Main program Code switch case break case break default As you can see there are several predefined templates The Edit and Delete buttons allow the like named operations on existing templates The Add button gives the ability to create custom templates To bring up the list of defined templates Dynamic C must be in edit mode Then you must do one of the following press lt Ctrl j gt or right click in the editor window and choose Insert Code Template from the popup menu or choose the Edit command menu and select Insert Code Template Clicking on the desired template name inserts that template at the cursor location Chapter 15 Graphical User Interface 241 Debug Windows Tab Click on the Debug Windows tab to display the following dialog Here is where you change the behavior and appearance of Dynamic C debug windows Environment Options Under General Preferences is where you decide which debug windows will be opened after a successful compile You may choose one of the radio buttons in this category Selecting Open last used windows makes Dynamic C 8 act like Dynamic C 7 x Under Specific Preferences is where you customize each window Colors and fonts are chosen here as well as other options 242 Dynamic C User s Manual Stdio Window The previous screen shows the options available for the Stdio win
124. ass of data Consider this example typedef unsigned int node void NodeInit node type name is informative void NodeInit unsigned int not very informative This example shows many of the basic C constructs Put descriptive information in your program code using this form of comment which can be inserted anywhere and can span lines The double slash comment shown below may be placed at the end of a line define SIZE 12 A symbolic constant defined aime Gj In Declare global integers Eear uns guare aime Dime Prototypes for WOwEl dae 5 Hil functions below main Program starts here IONE 35 xis local to main iade O p Call a void function x SumMScmeare o In p x gets sumSquare value oeme E Wxe Bie 54 g printf is a standard function void ana Oy Void functions do things but G iO Ths they return no value i SUMS Here it uses the symbolic Hi constant defined above float sumSquare int a int b Integer arguments float temp Local variables temp axa b b Arithmetic statement return temp Return value and here is the end of the program The program above calculates the sum of squares of two numbers g and h which are initialized to 10 and 12 respectively The main function calls the init function to give values to the global variables g and h Then it uses the sumSquare function to perform the calculation and ass
125. atch Window The Watches window configuration options Enable watch expression evalution in flyover hint and Show watch expression evaluation errors in flyover hint do not actu ally affect the Watches window When checked they allow you to use flyover hints in the source code window to see the value of watchable expressions Move the cursor over a variable to see its current value and over a function to see its logical address or its return value If you highlight the name of a function e g my function you will see the location of the code in memory If you highlight the function call e g my_ function my_parm the function will be called and you will see its return value If the cursor is over a structure member the flyover hint will only contain information about the structure not the individual member Trace Window The Trace window configuration options control automatic scrolling of trace entries and whether or not the full path is displayed in the Trace window when the file name is displayed These options can be set here at compile time or toggled at runtime from a right click pop up menu accessible in the Trace window See Trace Alt F12 on page 268 for details Stack Trace Window There are no configuration options for the Stack Trace window 248 Dynamic C User s Manual Print Alerts Tab Click on the Print Alerts tab to display the following dialog You may access both the Page Setup dialog and Prin
126. ays are limited to a total of 32 767 elements static int thing array 12 static integer variable amp static integer array auto float matrix 3 3 auto float array with 2 dimensions char message Press any key initialized pointer to char array If an aggregate type struct or union is being declared its internal structure has to be described as shown below elepe bles 1 description of structure char flags ocrvet at a nested structure here WME Sip Int y t loe cursor shae Ep a ewig LOCS use of structure element here 4 10 Functions The basic unit of a C application program is a function Most functions accept parameters a k a arguments and return results but there are exceptions All C functions have a return type that specifies what kind of result if any it returns A function with a void return type returns no result If a function is declared without specifying a return type the compiler assumes that it is to return an int integer value A function may call another function including itself a recursive call The main function is called automatically after the program compiles or when the controller powers up The beginning of the main function is the entry point to the entire program 24 Dynamic C User s Manual 4 11 Prototypes A function may be declared with a prototype This is so that e Functions that have not been compiled may be called e Recursive functions
127. b statement in an application mul tiple file descriptors can be opened but their current position will not be updated if fshift is used FS2 USE PROGRAM FLASH The number of kilobytes reserved in the first flash for use by FS2 The default is zero The actual amount of flash used by FS2 is determined by the minimum of this macro and XMEM_ RESERVE SIZE XMEM RESERVE SIZE This BIOS defined macro is the number of bytes which must be a multiple of 4096 reserved in the first flash for use by FS2 and possibly other customer defined purposes This is defined in the BIOS as 0x0000 Memory set aside with XMEM_RESERVE_SIZE will NOT be available for xmem code 138 Dynamic C User s Manual 11 2 3 FS2 and Use of the First Flash To use the first flash in FS2 follow these steps 1 Define XMEM_RESERVE_SIZE currently set to 0x0000 in the BIOS to the number of bytes to allocate in the first flash for the file system 2 Define FS2_USE_PROGRAM_FLASH to the number of KB 1024 bytes to allocate in the first flash for the file system Do this in the application code before use fs2 1ib 3 Obtain the LX number of the first flash Call fs_get_other_1x when there are two flash memories call s_ get flash _1x when there is only one 4 If desired create additional logical extents by calling the FS2 function fs setup to further partition the device This function can also change the logical sector sizes of an extent Please see
128. bbit Field Utility RFU is bundled with Dynamic C its source code is sold separately The RFU is described in Section C 3 1 on page 313 310 Dynamic C User s Manual C 2 Dynamic C Utilities There are several utilities bundled with Dynamic C C 2 1 File Compression Utility Dynamic C has a compression utility feature The default utility implements an LZSS style com pression algorithm Support libraries to decompress files achieve a throughput of 10 KB s to 20 KB s number of bytes in uncompressed file time to decompress entire file using ReadCompressedFile depending upon file size and compression ratio The zimport compiler directive performs a standard ximport but compresses the file by invoking the compression utility before emitting the file to the target Support libraries allow the compressed file to be decompressed on the fly Compression ratios of 50 or more for text files can be achieved thus freeing up valuable xmem space The compression library is thread safe For details on compression ratios memory usage and performance please see Technical Note 234 File Compression Using zimport available on our website at www zworld com C 2 1 1 Using the File Compression Utility The utility is invoked by Dynamic C during compile time when zimport is used The keyword zimport will compress any file Of course some files are already in a compressed format for example jpeg files so trying to compress them furth
129. be captured by the trace Full tracing captures all debuggable statements plus function entries and exits If you don t want to include all statements you can choose to capture each function entry and exit only Dynamic C statements are debuggable by default while assembly code is not You can toggle this with the debug and nodebug keywords for Dynamic C functions and with the debug and nodebug options of the asm compiler directive for blocks of assembly code Chapter 15 Graphical User Interface 259 Saving Trace Window to a File Checking the Save on program termination box will cause Dynamic C to write the contents of the trace buffer to a file when your program terminates When this box is checked you must specify the filename and location where you want to save in the field below Note that this feature saves the contents of the trace buffer at the time your program terminates so if the buffer fills up while your program is running not all trace entries received will be written to the file If you want to save trace entries before they are lost you can do so at any time from the Trace window See Trace Alt F12 on page 268 for details Defines Tab The Defines tab brings up a dialog box with a window for entering or modifying a list of defines that are global to any source file programs that are compiled and run The macros that are defined here are seen by the BIOS during its compilation Syntax DEFINITION DELI
130. be found If a project is closed with the File Projects Close menu option the default project default dcp becomes the active project The active project file name without path or extension is always shown in the leftmost panel of the status bar at the bottom of the Dynamic C main window and is prepended to the Dynamic C version in the title bar except when the active project is the default project Changes made to the compilation environment of Dynamic C are automatically updated to the active project unless the active project is factory dcp Chapter 17 Project Files 293 17 2 Updating a Project File Unless the active project is factory dcp changes made in the Project Options dialog will cause the active project file to be updated immediately Opening or closing files will not immediately update the active project file The project file state of the recently used files appearing at the bottom of the File menu selection and any opened files in edit windows will only by updated when the project closes or when File Projects Save is selected The Message Assembly Memory Dump Registers and Stack debug windows are not edit windows and will not be saved in the project file if you exit Dynamic C while debugging 17 3 Menu Selections The menu selections for project files are available in the File menu The choices are the familiar ones Create Open Save Save As and Close Choosing File Project Open
131. both code compiled to bin files and code compiled to the tar get To run the program after compiling to the target with this option discon nect the target from the programming port and reset the target CPU 256 Dynamic C User s Manual Include BIOS If this is checked the BIOS as well as the user program will be included in the bin file If you are creating a special program such as a cold loader that starts at address 0x0000 then this option should be unchecked This option is not available when you are compiling a program to the attached target controller Debugger Tab Click on the Debugger tab to display the following dialog This is where you enable dis able debugging tools Disabling parts of the debug kernel saves room to fit tight code space requirements Project Options Chapter 15 Graphical User Interface 257 Enable breakpoints If this box is checked the debug kernel will be able to toggle breakpoints on and off and will be able to stop at set breakpoints This is where you set the maximum number of breakpoints the debug kernel will support The debug kernel uses a small amount of root RAM for each breakpoint so reducing the number of breakpoints will slightly reduce the amount of root RAM used If this box is unchecked the debug kernel will be compiled without breakpoint sup port and the user will receive an error message if they attempt to add a breakpoint Enable watch expressions If this box
132. by a forward slash 3 astericks and one space The forward slash must be the first character on the line The BeginHeader comment must end with an asterick and a forward slash The key tells the compiler which functions exist in the module so the compiler can exclude the module if names in the key are not referenced Data declarations constants structures unions and variables as well as macros and function chains both makechain and funchain state ments do not need to be named in the key if they are completely defined in the header i e no extern declaration They are fully known to the compiler by being completely defined in the module header An important thing to remember is that variables declared in a header section will be allocated memory space unless the declaration is preceded with extern 4 23 1 2 Module Header Every line between the BeginHeader and EndHeader comments belongs to the header of the module When a library is linked to an application i e the application has the statement use library name Dynamic C precompiles every header in the library and only the headers With proper function prototypes and variable declarations a module header ensures proper type checking throughout the application program Prototypes variables structures typedefs and mac ros declared in a header section will always be parsed by the compiler if the library is used and everything will have global scope It is even
133. c C costatement provides an easier way to control the tasks It is relatively easy to add a task that checks for the use of an emergency stop button and then behaves accordingly while 1 costat e ae we task 1 costate task 2 waitfor buttonpushed turnondevicel waitfor DelaySec 60L turnondevice2 waitfor DelaySec 60L turnoffdevicel turnoffdevice2 costae reat task n The solution is elegant and simple Note that the second costatement looks much like the original description of the problem All the branching nesting and variables within the task are hidden in the implementation of the costatement and its wait for statements 48 Dynamic C User s Manual 5 3 2 Costatement Syntax costate name state statement yield abort waitfor expression The keyword costate identifies the statements enclosed in the curly braces that follow as a cos tatement name can be one of the following e A valid C name not previously used This results in the creation of a structure of type CoData of the same name e The name ofa local or global CoData structure that has already been defined e A pointer to an existing structure of type CoData Costatements can be named or unnamed If name is absent the compiler creates an unnamed structure of type CoData for the costatement state can be one of the following e always _on The costatement is always active
134. caused the abort Chapter 13 Keywords 191 while Identifies the beginning of a while loop A while loop tests at the beginning and may exe cute zero or more times while expression xdata Declares a block of data in extended flash memory xdata name value 1 value_n The 20 bit physical address of the block is assigned to name by the compiler as an unsigned long variable The amount of memory allocated depends on the data type Each char is allocated one byte and each int is allocated two bytes If an integer fits into one byte it is still allocated two bytes Each float and long cause four bytes to be allocated The value list may include constant expressions of type int float unsigned int long unsigned long char and quoted strings For example xdata namel x46 x47 x48 x49 x4A x20 x20 xdata name2 R a b b i t xdata name3 Rules xdata name4 1 0 2 0 float 3 40e 01 5e00 6e1 The data can be viewed directly in the dump window by doing a physical memory dump using the 20 bit address of the xdata block See Samples Xmem xdata c for more information 192 Dynamic C User s Manual xmem Indicates that a function is to be placed in extended memory This keyword is semantically mean ingful in function prototypes Good programing style dictates its use be consistent between the prototype and the function definition That is if a function is defined as
135. ceeds the 16 bit range 32768 to 32767 or if it has the letter L appended OL 32L 45000 32767L An integer is unsigned if it has the letter U appended Itis long if it also has L appended or if its magnitude exceeds the 16 bit range OU 4294967294U 32767U 1700UL An integer is hexadecimal if preceded by 0x Ox7E OxE000 OXFFFFFFFA It may contain digits and the letters a f or A F An integer is octal if begins with zero and contains only the digits 0 7 0177 020000 000000630 A real number can be expressed in a variety of ways 4 5 means 4 5 4f means 4 0 0 3125 means 0 3125 456e 31 means 456 x 1072 0 3141592e1 means 3 141592 Chapter 4 Language 21 4 7 Strings and Character Data A string is a group of characters enclosed in double quotes Press any key when ready Strings in C have a terminating null byte appended by the compiler Although C does not have a string data type it does have character arrays that serve the purpose C does not have string opera tors such as concatenate but library functions strcat and strncat are available Strings are multibyte objects and as such they are always referenced by their starting address and usually by a char variable More precisely arrays are always passed by address Passing a pointer to a string is the same as passing the string Refer to Section 4 15 for more information on pointers The following example illustrates typical use of strings const char se
136. ces highlighting 230 locating cscs 223 224 nointerleave aa 199 disassemble at address 230 run time 00 eee eee 125 253 FMOUSCIX oo eeeeeeeteeees 202 disdss mbl ed code col 230 ESC key pragma ge havent PG 200 execution trace s e 232 to close menu eee 220 precompile seeeseerern 201 hints and tips 0 0 69 90 examples FUNEE sessist 21 202 keyword ete sees 175 Bical ainda 33 Huse Ee a ge 38 39 202 memory dump 230 CONINUE iesiti 33 IS sessisssesstsreserseesrens 202 ModE seekoeie iin 224 for LOOP neeeeseeesseeesrseeerseeee 32 FWANS sseeeeseeerereereerreee 202 polling the target 0 00 0 227 MOUS rine 41 warnt peas Sige i ars 202 Step OVET ennnen 227 OF ATAY e iar 27 ximp OTE sinner 203 switching modes 224 UNION oaie 28 zimport ne PUES E 203 LACE INLO s spines 227 exit Dynamic C oe 221 line continuation 195 trace MACTOS oo ceeeeeeeeeeeees 13 extended memory 4 159 193 compound update watch expressions 230 asm blocks oe eee 153 SU RA sass ise less at ete etre 18 watchdog timers 93 EXET EE 41 177 statements SE 23 windows 242 248 265 269 COMPIESSION of ae eee ye om 3 declarations eee 24 39 F concatenation of strings pa 140 17 default arstssaserenne 35 176 FAT file system sssscssesseeee 309 aE EE 5 3 175 189 Default Compile Mode 255 file CONTINUE eee Tea 33 demotion vices
137. cessed 6 3 2 2 Minimize the Failure Scenario After you can reproduce the bug create the shortest program possible that demonstrates the prob lem Whatever the size of the code you are debugging one way to minimize the failure scenario is a method called binary search Basically comment out half the code more or less and see which half of the program the bug is in Repeat until the problem is isolated i Read some accounts of some hairy bugs including one where the program only worked on Wednesdays at http lieber www media mit edu people lieber Lieberary Softviz CACM Debugging Hairiest html Chapter 6 Debugging with Dynamic C 89 6 3 2 3 Other Things to Try Get out of your cubicle It is a well known fact that there are times when simply walking over to a co worker and explaining your problem can result in a solution Probably because it is a form of data gathering The more data you gather up to a point the more you know and the more you know the more your chances of figuring out the problem increase Stay in your cubicle Log on and get involved in one of the online communities There is a great Yahoo E group dedicated to Rabbit and Dynamic C Although Z World engineers will answer questions there it is mostly the members of this group that solve problems for each other To join this group go to http groups yahoo com group rabbit semi Another good online source of information and help is the Z World bulletin
138. ch expression If the statements for a case do not include a break return continue or some means of exiting the switch statement the cases following the selected case will also execute regardless of whether their constants match the switch expression typedef This keyword provides a way to create new names for existing data types typedef struct int x int y xyz defines a struct type xyz thing and a thing of type xyz typedef uint node meaningful type name node master slavel slave2 Chapter 13 Keywords 189 union Identifies a variable that can contain objects of different types and sizes at different times Items in a union have the same address The size of a union is that of its largest member union int x float y abc overlays a float and an int unsigned Declares a variable or array to be unsigned If nothing else is specified in a declaration unsigned means 16 bit unsigned integer unsigned i j k 16 bit unsigned unsigned int x 16 bit unsigned unsigned long w 32 bit unsigned unsigned funct unsigned arg Values in a 16 bit unsigned integer range from 0 to 65 535 instead of 32768 to 32767 Values in an unsigned long integer range from 0 to 2 1 useix Indicates that a function uses the IX register as a stack frame pointer useix void func See also nouseix and directives useix nouseix 190 Dynamic C User s Ma
139. ch WINCOW 0 ech caramel WAN O WA ct acrtiernaedaardied 265 statements 2 0 eeeeeseeeeeeeeeeee 23 Sample 12 Die See watchdog timers seese 93 static variables fields to displa 259 initialization 5 payes pa watchdogs virtual 93 ee par ae S function entry and exit 259 fd 191 keyword e a ds a n aie 187 HACTOs 232 WEU ai ciceccedectrtsceevesteeseueesseress f N S SE N While sirane 23 32 192 TOOUMEMOLY e e ao esak 132 saving to file wee 260 iid status register 267 d 232 wandows ae starting and stopping ass mbl 157 266 Stdio window 243 265 W 2 ranean sees gt rap Option eseese 59 casad d 265 STDIO_DEBUG_SERIAL 3 243 type SENET TOS 2 step OVET o eccccsescsessscsccceesees 227 casting 206 information 265 269 stop program execution 227 a 55 953 MESSAQE oo eeeeesteeeees 265 storage class 24 i anre a TEPISLOR sssonaisymnsentt 265 267 BESS SORES definitions 25 26 k 265 268 Fa De I EO EE EE oetteed 28 typedef 25 26 1 89 stac E S AERE V SlatiC ere wisi A 28 RRE o Stdio weeeeeseeseeeessseee 243 265 BURNS casesd este tanes 22 192 U tiled horizontally 265 concatenation n s 22 tiled vertically 1 2 265 r T Some resem 22 unary Operators eee 205 Watch sonnii 230 265 literal nets wieanaret amas 19 unbalanced stack TOE ay terminating null byte 22 undoing changes EASES 222 struct keyword sist
140. close file and deallocate memory buffers CompressFile compress an FS2 file placing the result in a second FS2 file Dynamic C User s Manual 311 DecompressFile decompress an FS2 file placing the result in a second FS2 file Complete descriptions are available for these functions in the Dynamic C Function Reference Manual and also via the Function Lookup facility Ctrl H or Help menu There are several macros associated with the file compression utility ZIMPORT_ MASK Used to determine if the imported file is compressed zimport or not ximport OUTPUT_COMPRESSION BUFFERS default 0 Number of 24K buffers for compres sion compression also requires a 4K input buffer which is allocated automatically for each output buffer that is defined INPUT COMPRESSION BUFFERS default 1 Number of 4KB internal buffers in RAM used for decompression Each compressed file has an associated file descriptor of type ZFILE All fields in this structure are used internally and must not be changed by an application program C 2 1 3 Replacing the File Compression Utility Users can use their own compression utility replacing the one provided If the provided compres sion utility is replaced the following support libraries will also need to be replaced zimport lib 1lzss libandbitio 1lib They are located in lib zimport The default compression utility Zcompress exe is located in Dynamic C s root directory The uti
141. compilation went x Base Top Size Root code oo00 4CE5 4CE6 Total code size 29519 bytes MEM code 06000 08668 02668 Total data size 2341 bytes Watch code CCOO CDFE DIFF Lines compiled TTAF Stack D000 DFFF 1000 Compile time 0 seconds Root data CBFF C2DB 0925 Compile speed 762000 lines minute Root constants Only in Separate 1 amp D Board ID 0x0700 Chapter 15 Graphical User Interface 269 Table 15 1 Information Window Name of Field Description of Field The begin base end top and size of the root code area Roohcads expressed in logical address format 16 bit The begin end and size of the XMEM code area expressed in MEM Code physical address format 20 bit The begin end and size of the watch code area expressed in Syaichncode logical address format 16 bit Stack The begin end and size of the run time stack expressed in logical address format 16 bit Bootin The begin end and size of the root data area expressed in logical address format 16 bit Root constants The begin end and size of the root constant area expressed in physical address format 20 bit Total code size The number of code bytes including both root and XMEM code areas Total data size The number of data bytes including both root and XMEM data areas Lines compiled The number of lines compiled including lines from library files Compile time The number of seconds t
142. ct in this example is to reinitialize vec Chapter 13 Keywords 185 shared Indicates that changes to a multi byte variable such as a float are atomic Interrupts are dis abled when the variable is being changed Local variables cannot be shared Note that you must be running off the main system clock to use shared variables This is because the atomicity of the write cannot be ensured when running off the 32 kHz clock shared float x Y Z shared int j main If i is a shared variable expressions of the form i ori i 1 constitute two atomic ref erences to variable i a read and a write Be careful because i is not an atomic operation short Declares that a variable or array is short integer 16 bits If nothing else is specified short implies a 16 bit signed integer short i j k 16 bit signed unsigned short int w 16 bit unsigned short funct short arg size Declares a function to be optimized for size as opposed to speed size int func 186 Dynamic C User s Manual sizeof A built in function that returns the size in bytes of a variable array structure union or of a data type sizeof can be used inside of assembly blocks int list 10 99 33 2 7 63 217 x sizeof list x will be assigned 14 speed Declares a function to be optimized for speed as opposed to size speed int func static Declares a local v
143. cted the last word selected appears as the entry for the search text More than one word of text may be specified by typing it in or selecting it from the available history of search text The replacement text is typed or selected from the available history of replacement text As with the Find dialog box there are several ways to narrow or broaden the search criteria An important option is Prompt on replace If this is unchecked Dynamic C will not prompt before making the replacement which could be dangerous in combination with the choice to Replace All Find Next lt F3 gt Once search text has been specified with the Find or Replace commands the Find Next com mand will find the next occurrence of the same text searching forward or in reverse case sen sitive or not as specified with the previous Find or Replace command If the previous command was Replace the operation will be a replace Reverse Find Next lt Alt F3 gt Behaves the same as Find Next except in the opposite direction If Find Next is searching for ward in the file Reverse Find Next will search backwards and vice versa Find in Files Grep lt Shift Ctrl F gt This option searches for text in the currently open file s or in any directory optionally includ ing subdirectories specified Standard Unix style regular expressions are used A window with the search results is displayed with an entry for each match found Double clicking on an entry will open the c
144. ction titled Type Checking on page 253 for more information Blinking Lights Debugging software by toggling LEDs on and off might seem like a strange way to approach the problem but there are a number of situations that might call for it Maybe you just want to exer cise the board hardware Or let us say you need to see if a certain piece of code was executed but the board is disconnected from your computer and so you have no way of viewing printf output or using the other debugging tools Or maybe timing is an issue and directly toggling an LED with a call to WrPortE or BitWrPortE gives you the information you need without as much affect on timing The sample program Samples LP3500 power c demonstrates how to use LEDs to com municate information 84 Dynamic C User s Manual 6 2 Where to Look Debugger features are accessed from several different Dynamic C menus The menu to look in depends on whether you want to enable configure view or use the debugger feature This section identifies the various menus that deal with debugging Table 6 1 summarizes the menus and debugging tools Table 6 1 Summary of Debug Tools and Menus Name of Where Feature is Where Feature is Where Feature is Feature Configured Enabled Toggled Execution Trace Environment Options Debug Windows tab Project Options Debugger tab Right click menu in the Trace window Project Options Debugger tab Inspect Menu Programatically
145. cuted the internal statement pointer is set back to the first statement in the costatement and a jump is made to the closing brace of the costatement Observe the value of secs while the program is runningTo illustrate the use of snooping use the watch window to observe secs while the program is running Add the variable secs to the list of watch expressions then press lt Ctrl U gt repeatedly to observe as secs increases 3 4 Run DEMO4 C The sample program DEMO4 C uses execution tracing This is one of the advanced debugging features introduced in Dynamic C 9 Tracing records program state information based on options you choose in the Debugger tab of the Project Options dialog The information captured from the target by Dynamic C s tracing feature is displayed in the Trace window available from the Win dow menu To make the target send trace information you must turn on tracing either from the INSPECT menu or from within your program using one of the macros described here To use this sample program first go PZD ic C Dist 9 00 to the Debugger tab of the Project Fie Edit Compile Run Inspect ions Window Hel Options dialog select Enable Trac P Pp Options P ing and choose Full for the Trace Daw E amp 4 Ba ety Environment Options Level Click OK to save and close N 7 S5 maoo Project Options the dialog then compile and run DEMO4 C When the program fin ishes the Trace window will open
146. de If a local static variable must be initialized once only before the program runs it should be done in a GLOBAL INIT section but other inititialization may also be done For example This function outputs and returns the number of times it has been called int foo char count GLOBAL_INIT initialize count Coline is make port A output WrPortI SPCR SPCRShadow 0x84 output count WrPortI PADR NULL count increment and return count return count error Syntax error Instructs the compiler to act as if an error was issued The string in quotes following the directive is the message to be printed funcchain Syntax funcchain chainname name Adds a function or another function chain to a function chain Chapter 13 Keywords 197 if elif else endif Syntax if constant_expression elif constant expression else endif These directives control conditional compilation Combined they form a multiple choice if When the condition of one of the choices is met the Dynamic C code selected by the choice is compiled Code belonging to the other choices is ignored main H BOARD TYPE 1 define product Ferrari elif BOARD TYPE define product Maserati elif BOARD_TYPE 3 define product Lamborghini else define product Chevy endif The e1if and else directives are optional Any code between an e1se and an endif is compiled
147. dow They are described here You may modify or check as many as you would like Automatic open Check this to open the Stdio window the first time printf is encoun tered Automatic Vertical Scroll Check this to force vertical scroll when text is displayed outside the view of the window If this option is unchecked the text display doesn t change when the bottom of the window is passed you have to use the scroll bar to see text beyond the bottom of the window Automatic Horizontal Scroll Check this to force horizontal scroll when text is displayed outside the view of the window Log to File Check this to direct output to a file If the file does not exist it will be created If it does exist it will be overwritten unless you also check the option to append the file Rows Specifies the maximum number of rows that can hold Stdio data Columns Specifies the maximum number of columns that can hold Stdio data When the maximum column is reached output automatically wraps to the next row Spaces In Tab Tab stops display as the number of spaces specified here Starting with Dynamic C 9 the various Find commands available on the Edit menu can be used directly in the Stdio window i The macro STDIO_DEBUG_ SERIAL may be defined to redirect Stdio output to a des ignated serial port A B C or D For more information please see the sample program Samples STDIO SERIAL C Chapter 15 Graphical User Interface 243 A
148. dress and the second with that same four digit number but with a leading zero making it a physical address The contents of the dump windows will be the same CA DYNAMIC C 9 SAMPLES DEMO1 MAaP fa e2cc akCheckEntry DKCORE a fa e2d7 dkSetSinglesStepHook DKENTR fa ezdt dkSetEpilogHook DKENTR Global static data symbol mapping and source reference ff Addr Size Symbol File 2cSe 129 _ctype table STRING 2f0a 10 _tens VSTDEOs3 3308 44 __itens STDIO 35c3 32 pflt round STDIO 3e83 4 __ftoa lg 2 10 STDIO 462b 32 f divxmemurapper divtable MUTILF c367 4 __initial_ stack PROGRA c383 4 freesStacks STACK 46e1 10 stackSizes STACEK v gt W The addresses in the format xx yyyy are physical addresses For code xx is the XPC value for data it is the value of DATASEG yyyy is the PC value for both code and data In the above map file you can see examples of both code and data addresses Addresses in the format xx yyyy are transformed by the MMU into a 5 digit physical address We will use the address fa e64c to explain the actions of the MMU It is really very simple if you can do hex arithmetic in your head or have a decent calculator The MMU takes the XPC or DATASEG value ap pends three zeros to it then adds it to the PC value like so fa000 e64c 10864c A sixth digit in the result is ignored leaving us with the value 0x0864c This is the physical address Again you can check this in a cou
149. ds idle loops give pre cise delays Such precision cannot be achieved with wait for delays A particular application may not need very precise delay timing Suppose the application requires a 60 second delay with only 100 ms of delay accuracy that is an actual delay of 60 1 seconds is considered acceptable Then if the processor guarantees to check the delay every 50 ms the delay would be at most 60 05 seconds and the accuracy requirement is satisfied 5 8 Overview of Preemptive Multitasking In a preemptive multitasking environment tasks do not voluntarily relinquish control Tasks are scheduled to run by priority level and or by being given a certain amount of time There are two ways to accomplish preemptive multitasking using Dynamic C The first way is uC OS II a real time preemptive kernel that runs on the Rabbit microprocessor and is fully sup ported by Dynamic C For more information see Dynamic C Modules on page 309 The other way is to use slice statements 5 9 Slice Statements The slice statement based on the costatement language construct allows the programmer to run a block of code for a specific amount of time 5 9 1 Slice Syntax slice context buffer context buffer size time slice name statement yield abort waitfor expression context buffer size This value must evaluate to a constant integer The value specifies the number of bytes for the buffer context buffer It needs
150. e The CSState field contains two flags STOPPED and INIT The possible flag values and their meaning are in the table below Table 5 1 Flags that specify the run status of a costatement STOPPED INIT State of Costatement m Bs Done or has been initialized to run but set to y y inactive Set by CoReset yes no Paused waiting to resume Set by CoPause no yes Initialized to run Set by CoBegin Running CoResume will return the flags to no no j this state The function isCoDone returns true 1 if both the STOPPED and INIT flags are set The function isCoRunning returns true 1 if the STOPPED flag is not set The CSState field applies only if the costatement has a name The CSState flag has no meaning for unnamed costatements or cofunctions 52 Dynamic C User s Manual Last Location The two fields Last locADDR and last 1locCBR represent the 24 bit address of the location at which to resume execution of the costatement If Last LocADDR is zero as it is when initial ized the costatement executes from the beginning subject to the CSState flag If last 1ocADDR is nonzero the costatement resumes at the 24 bit address represented by last locADDR and lastlocCBR These fields are zeroed whenever one of the following is true e the CoData structure is initialized by acallto GLOBAL INIT CoBegin or CoReset e the costatement is executed to completion e the costatement is aborted
151. e means that the variable will be a pointer type and in an executable statement j ptr_to_i means the value stored at the address contained in ptr_to_i Pointers may point to other pointers doie joc CO af SLIME AIOIEIS EO fOIEIe EO ap int i j ocr CO i Sly Set pointer equal to the address of i ptr_to ptr to i amp ptr_to i Seta pointer to the pointer to the address of i L L0 Assign a value to i J Pepper tO jer CO ia This sets j equal to the value in i It is possible to do pointer arithmetic but this is slightly different from ordinary integer arithmetic Here are some examples floaie ELLOl a is an array and some ptrs p amp f point p to array element 0 t57 point q to array element 5 qt point q to array element 6 D jo Gis illegal Because the float is a 4 byte storage element the statement q p 5 sets the actual value of q to p 20 The statement q adds 4 to the actual value of q If were an array of 1 byte charac ters the statement q adds 1 to q Chapter 4 Language 29 Beware of using uninitialized pointers Uninitialized pointers can reference ANY location in memory Storing data using an uninitialized pointer can overwrite code or cause a crash A common mistake is to declare and use a pointer to char thinking there is a string But an uninitialized pointer is all there is char string sicwcioy gering Waele Jy
152. e 12 2 Special Assembly Language Symbols Symbol Description Indicates the amount of stack space in bytes used for stack LRF based variables This does not include arguments Constant for the current code location For example ld hl P p d PC loads the code address of the instruction ld hl PC 3 loads the address after the instruction since it is a 3 byte instruction Evaluates the offset from the frame reference point to the RETVAL stack space reserved for the struct function returns See Section on page 155 for more information Determines the next reference address of a variable plus its LENGTH size Chapter 12 Using Assembly Language 151 12 2 6 C Variables C variable names may be used in assembly language What a variable name represents the value associated with the name depends on the variable For a global or static local variable the name represents the address of the variable in root memory For an auto variable or formal argument the variable name represents its own offset from the frame reference point The following list of processor register names are reserved and may not be used as C variable names in assembly A B C D E F H L AF HL DE BC IX TY SP PC XPC IP IIR and EIR Both upper and lower case instances are reserved The name of a structure element represents the offset of the element from the beginning of the structure In the following structure
153. e Debugger tab of the Project Options dialog which allows saving the Trace window to a file upon program termination Stack Trace Ctrl T The Stack Trace window displays the call sequence and the values of func tion arguments and local variables of the currently running program The screenshot shown here is the Stack Trace window when Samples Demo3 c is running The window contents tell us that the function main has been called and that it has one local variable named secs which cur rently has a value of 0 7 Stack Trace iof x naini secs 0x0 Depth 4 Max Depth 4 YW The Depth value along the bottom of the Stack Trace window is the current number of bytes on the stack The Max Depth value is the maximum number of bytes pushed on the stack at any one time for the current run of the program or since the Max Depth value was reset The Max Depth value can be reset by a right click in the Stack Trace window to bring up some menu options Along with resetting the Max Depth value back to zero think of it like a car trip odometer you can use the right click menu to copy text from the Stack Trace window or to cause the source code file to become the active window The source code file could be a library file if a library function is executing at the time the menu option is requested Information Select the Information menu option to activate the Information window which displays how the memory is partitioned and how well the
154. e Syntax Highlighting Many syntactic elements are visually enhanced with color or other text attributes by default These elements are user configurable from the Syntax Colors tab of the Environment Options dialog This is more than mere lipstick The visual representa tion of material can aid in or detract from understanding it especially when the material is complex e Revision Control System If your company has a code revision control systems in place use it In addition when in development or testing stages keep a known good copy of your program close at hand That is a compiles and runs without crashing copy of your pro gram Then if you make changes improvements or whatever and then can t compile you can go back to the known good copy i Older libraries may not adhere strictly to these standards 88 Dynamic C User s Manual 6 3 2 Finding the Bug When a program does not compile or compiles but when running behaves in unexpected ways or perhaps worse runs and then crashes what do you do Compilation failures are caused by syntax errors The compiler will generate messages to help you fix the problem There may be a list of compiler error messages in the window that pops up Fix the first one then recompile The other compile errors may disappear if they were not true syntax errors but just the compiler being confused from the first syntax error During development verify code as you progress Develop code one f
155. e and BIOS memory To the right of the checkbox is a spin edit box for entering the maximum number of bytes of the current stack to transfer from the target at each breakpoint The allowable range is 32 bytes to 4096 bytes inclusive The default is 4096 bytes If the stack depth is smaller than the number in this spin edit box only the depth number of bytes is transferred With the Enable stack tracing box unchecked the debug kernel and the user program will be compiled without stack tracing support Changing the status of the checkbox or the number of stack trace bytes forces a recompilation of the BIOS the next time the user program is compiled See Stack Trace Ctrl T on page 269 for details on using this debug window Enable instruction level single stepping If this is checked when the assembly window is open single stepping will be by instruction rather than by C statement Unchecking this box will disable instruction level single stepping on the target and if the assembly window is open the debug ker nel will step by C statement 258 Dynamic C User s Manual Enable Execution Tracing If this is checked the target will send trace information back to Dynamic C when you turn on tracing by choosing Inspect Start Tracing or when your program does so by executing a TRACE or TRACEON macro Unchecking this box will disable the menu command and macros Note that enabling tracing here will cause more code to be compiled int
156. e code generated by the compiler in assembly language format The Disassemble at Cursor or Disassemble at Address commands from the Inspect menu also activate the Disassembled Code window Disassembled Code _ 5 x Address Opcode Instruction Cycles DEMO1 C 13 i 0 1f 69 210000 la hl 0x0000 6 1f6c D402 la sp 2 hl 11 ife EF rst 0x28 3 DEMO1 C 14 xalloc_ stats QO 1f6f 210000 la hl 0x0000 6 1 72 ES push hl Copy ane ee Sage aa oe Save to File Ctrl S s 1f79 EF rst Ox k a ele ee sot DEMO1 C 16 while 1 ebm ne 1f a 00 nop v Show Source 17b EF rst OX y Show File Name in Source Line DEMO1 C 16 while 1 AE EEE itive 210100 id hl show Machine Code LENE SS noor v Show Clock Cycles 1f60 CABFIF jp z 1f 83 EF rst Ox y Sum Clock Cycles DEMO1 C 17 i v Use Syntax Highlighting 1f64 C402 ld hl 1f66 23 inc hl 2 1f87 D402 ld sp 2 hl 11 x Selected Clock Cycles Sum 2 W The Disassembled Code window displays Dynamic C statements followed by the assembly instructions for that statement Each instruction is represented by the memory address on the far left followed by the opcode bytes followed by the mnemonics for the instruction The last column shows the number of cycles for the instruction assuming no wait states The total cycle time for a block of instructions will be shown at the lowest row in the block in the cycle time column if that block
157. e contained in a debug C function in order to enable C code debugging Below is an example debug dummyfunction asm function label ey add line of C code to permit a breakpoint before jump relative jr nc label ret endasm NOTE Single stepping through assembly code is always allowed if the assembly window is open 148 Dynamic C User s Manual 12 2 Assembler and Preprocessor The assembler parses most C language constant expressions A C language constant expression is one whose value is known at compile time All operators except the following are supported Table 12 1 Operators Not Supported By The Assembler Operator Symbol Operator Description Ps conditional array index dot gt points to dereference 12 2 1 Comments C style comments are allowed in embedded assembly code The assembler will ignore comments beginning with text from the semicolon to the end of line is ignored text from the double forward slashes to the end of line is ignored text between slash asterisk and asterisk slash is ignored 12 2 2 Defining Constants Constants may be created and defined in assembly code with the assembly language keyword db define byte db should be followed immediately by numerical values and strings separated by commas For example each of the following lines all define the string ABC db TARU By EA Gli Weel db 0x41 0x42 0x43
158. e network loan distribute or otherwise transfer the Software or any copy thereof You shall not make copies of the copyrighted Software and or documenta tion without the prior written permission of Z WORLD provided that You may make one 1 hard copy of such documentation for each User and a reasonable number of back up copies for Your own archival purposes You may not use copies of the Software as part of a benchmark or comparison test against other similar products in order to produce results strictly for purposes of comparison The Software contains copyrighted material trade secrets and other proprietary material of Z WORLD and or its licensors and You must reproduce on each copy of the Soft ware all copyright notices and any other proprietary legends that appear on or in the original copy of the Software Except for the limited license granted above Z WORLD retains all right title and interest in and to all intellectual property rights embodied in the Software including but not limited to patents copyrights and trade secrets 4 Export Law Assurances You agree and certify that neither the Software nor any other techni cal data received from Z WORLD nor the direct product thereof will be exported outside the United States or re exported except as authorized and as permitted by the laws and regulations of the United States and or the laws and regulations of the jurisdiction if other than the United States in which You rightfully obta
159. e space taken by temporary information on the stack must be compensated for The following code illustrates the concept SP still points to the low boundary of the call frame push hl save HL SP now two bytes below the stack frame ld hl SP x 2 Add 2 to compensate for altered SP add hl sp compute as normal ld a hl get the content pop hl restore HL SP again points to the low boundary of the call frame Registers not preserved In Dynamic C the caller is responsible for saving and restoring all reg isters An assembly routine that calls a C function must assume that all registers will be changed Unpreserved registers in interrupt routines cause unpredictable and unrepeatable problems In con trast to normal functions interrupt functions are responsible for saving and restoring all registers themselves 168 Dynamic C User s Manual 13 Keywords A keyword is a reserved word in C that represents a basic C construct It cannot be used for any other purpose abandon Used in single user cofunctions abandon must be the first statement in the body of the cofunction The statements inside the curly braces will be executed only if the cofunction is forc ibly abandoned and if a call to loophead is made in main before calling the single user cofunction See Samples Cofunc Cofaband c for an example of abandonment handling abort Jumps out of a costatement for 4 costate if
160. e to the pf switch will override the settings from the project file Factory Default The project file default dcp GUI Equivalent Select File Project Open Example decl_ cmp myProgram c ne 25 pf myProject dcp dccl_ cmp myProgram c ne 25 pf myProject Note The project file extension dcp may be omitted pw TCPPassPhrase Description Enter the passphrase required for your TCP IP connection If no pass phrase is required this option need not be used Factory Default No passphrase GUI Equivalent Enter the passphrase required at the dialog prompt when compiling over a TCP IP connection Example dccl_ cmp myProgram c pw My passphrase ret Retries Description Factory Default GUI Equivalent Example The number of times Dynamic C attempts to establish communication if the given timeout period expires 3 None decl cmp myProgram c ret 5 Chapter 16 Command Line Interface 289 rf RTIFilePathname Description Compile to a bin file using targetless compilation parameters found in RTTFilePathname The resulting compiled file will have the same path name as the source c file being compiled but with a bin extension Factory Default None GUI Equivalent Example dcecl_ cmp myProgram c rf MyTCparameters rti decl_cmp myProgram c rf My Long Pathname MyTCpa rameters rti rti BoardID CpulD CrystalSpeed RAMSize FlashSize Description Compile to a bin file using paramet
161. e vacated bits become zero Shift right This is a binary operator The result is the value of the left operand shifted by the num ber of bits specified by the right operand int i OxFOOF j i gt gt 4 j gets OxFFOO The least significant bits of the operand are lost the vacated bits become zero for unsigned vari ables and are sign extended for signed variables Address operator or bitwise AND As a unary operator this provides the address of a variable int x Z amp X z gets the address of x As a binary operator this performs the bitwise AND of two integer char int or long values int i OxFFFO int j OxOFFF z ei amp kj z gets OxOFFO 210 Dynamic C User s Manual Bitwise exclusive OR A binary operator this performs the bitwise XOR of two integer 8 bit 16 bit or 32 bit values int i OxFFFO int j OxOFFF zZze ei j z gets OxFOOF Bitwise inclusive OR A binary operator this performs the bitwise OR of two integer 8 bit 16 bit or 32 bit values int i OxFFOO int j OxOFFO 22 2 j z gets OxFFFO Bitwise complement This is a unary operator Bits in a char int or long value are inverted int switches switches OxFFFO j switches j becomes 0x000F 14 4 Relational Operators Less than This binary relational operator yields a Boolean value The result is 1 if the left oper and is less than the right operand and 0 otherwise if i lt j body
162. eSystem FS2DEMO2 illustrates use of fs setup This sample also allows you to experiment with various file system settings to obtain the best perfor mance FS2 has been designed to be extensible in order to work with future flash and other non volatile storage devices Writing and installing custom low level device drivers is beyond the scope of this document however see FS2 LIB and FS_DEV LIB for hints 11 5 File Identifiers There are two ways to identify a particular file in the file system file numbers and file names 11 5 1 File Numbers The file number uniquely identifies a file within a logical extent File numbers must be unique within the entire file system FS2 accepts file numbers in word format typedef word FileNumber The low order byte specifies the file number and the high order byte specifies the LX number of the metadata 1 through number of LXs If the high order byte is zero then a suitable default LX will be located by the file system The default LX will default to 1 but will be settable via a define for file creation For existing files a high order byte of zero will cause the file system to search for the LX that contains the file This will require no or minimal changes to existing cus tomer code Only the metadata LX may be specified in the file number This is called a fully qualified file number FQFN The LX number always applies to the file metadata The data can reside on a dif ferent LX
163. easonably expected to result in significant injury No complex software or hardware system is perfect Bugs are always present in a system of any size In order to prevent danger to life or prop erty it is the responsibility of the system designer to incorporate redun dant protective mechanisms appropriate to the risk involved Trademarks Dynamic C isa registered trademark of Z World Inc Windows is a registered trademark of Microsoft Corporation Z World Inc 2900 Spafford Street Davis California 95616 6800 USA Telephone 530 757 3737 Fax 530 757 3792 www zworld com 318 Z WORLD SOFTWARE END USER LICENSE AGREEMENT IMPORTANT READ CAREFULLY BY INSTALLING COPYING OR OTHERWISE USING THE ENCLOSED Z WORLD INC Z WORLD DYNAMIC C SOFTWARE WHICH INCLUDES COMPUTER SOFTWARE SOFTWARE AND MAY INCLUDE ASSOCI ATED MEDIA PRINTED MATERIALS AND ONLINE OR ELECTRONIC DOCUMENTA TION DOCUMENTATION YOU ON BEHALF OF YOURSELF OR AS AN AUTHORIZED REPRESENTATIVE ON BEHALF OF AN ENTITY AGREE TO ALL THE TERMS OF THIS END USER LICENSE AGREEMENT LICENSE REGARDING YOUR USE OF THE SOFTWARE IF YOU DO NOT AGREE WITH ALL OF THE TERMS OF THIS LICENSE DO NOT INSTALL COPY OR OTHERWISE USE THE SOFTWARE AND IMME DIATELY CONTACT Z WORLD FOR RETURN OF THE SOFTWARE AND A REFUND OF THE PURCHASE PRICE FOR THE SOFTWARE We are sorry about the formality of the language below which our lawyers tell us we need to include to
164. eck Demotion in the Project Options Compiler dialog box tp Description Enable type checking of pointers Factory Default Type checking of pointers is performed GUI Equivalent Check Pointer in the Project Options Compiler dialog box tp Description Disable type checking of pointers Factory Default Type checking of pointers is performed GUI Equivalent Uncheck Pointer in the Project Options Compiler dialog box tt Description Enable type checking of prototypes Factory Default Type checking of prototypes is performed GUI Equivalent Check Prototype in the Project Options Compiler dialog box tt Description Disable type checking of prototypes Factory Default Type checking of prototypes is performed GUI Equivalent Uncheck Prototype in the Project Options Compiler dialog box 282 Dynamic C User s Manual Vp Description Factory Default GUI Equivalent Vp Description Factory Default GUI Equivalent wa Description Factory Default GUI Equivalent WN Description Factory Default GUI Equivalent WS Description Factory Default GUI Equivalent Verify the processor by enabling a DSR check This should be disabled if a check of the DSR line is incompatible on your system for any reason Processor verification is enabled Check Enable Processor verification in the Project Options Communications dialog box As
165. ect ATs FA Open to open To select a file type in the file name Print Preview Save pathnames may be entered or browse and select amp Print J gD Save As it Unless there is a problem Dynamic C will EO Chose present the contents of the file in a text window Alt F4 The program can then be edited or compiled Multiple files can be selected by either holding down lt Ctrl gt then clicking the left mouse on each filename you want to open or by dragging the selection rectangle over multiple filenames F Exit 220 Dynamic C User s Manual Save lt Ctrl S gt The Save command updates an open file to reflect changes made since the last time the file was saved If the file has not been saved before i e the file is a new untitled file the Save As dialog will appear to prompt for a name Use the Save command often while editing to protect against loss during power failures or system crashes Save As Presents a dialog box to save the file under a new name To select a file name type it in the File name field The file will be saved in the folder displayed in the Save in field You may of course browse to another location You may also select an existing file Dynamic C will ask you if you wish to replace the existing file with the new one Save All lt Shift Ctrl S gt This command saves all modified files that are currently open Close lt Ctrl F4 gt Closes the active editor window If there is an attempt
166. ected to the PC serial port The COM port specified in the Communications dialog box must be the same as the one the programming cable is connected to The Communications dialog box is accessed via the Communications tab of the Options Project Options menu To check if you have the correct serial port press lt Ctrl Y gt If the BIOS successfully com piled message does not display choose a different serial port in the Communications dia log box until you find the serial port you are plugged into Don t change anything in this menu except the COM number The baud rate should be 115 200 bps and the stop bits should be 1 3 1 1 Single Stepping To experiment with single stepping we will first compile DEMO1 C to the target with z3 out running it This can be done by clicking the compile button on the task bar This is the same as pressing F5 Both of this actions will compile according to the setting of Default Compile Mode See Default Compile Mode in Chapter 15 for how to set this param eter Alternatively you may select Compile Compile to Target from the main menu After the program compiles a highlighted character green will appear at the first exe cutable statement of the program Press the lt F8 gt key to single step or use the toolbar button Each time the lt F8 gt key is pressed the cursor will advance one statement When you get to the statement for j 0 j lt it becomes imprac
167. ector timerb_intvec timerb_isr Compile time setup Code interrupt vector overrides run time setup For run time setup you would replace the interrupt _vector statement above with xrcodorg lt INT VEC NAME gt apply asm INTVEC_ RELAY SETUP timerb intvec TIMERB OFS endasm rcodorg rootcode resume This results in a slower interrupt 80 clock cycles are added but an interrupt vector that can be modified at run time Interrupt vectors that are set up using interrupt vector are fast but can t be modified at run time since they are set at compile time long Declares variables function return values or array elements to be 32 bit integers If nothing else is specified long implies a signed integer long i j k 32 bit signed unsigned long int w 32 bit unsigned long funct long arg 182 Dynamic C User s Manual main Identifies the main function All programs start at the beginning of the main function main is actually not a keyword but is a function name nodebug Indicates a function is not compiled in debug mode This is the default for assembly blocks nodebug int func asm nodebug endasm See also debug and directives debug nodebug norst Indicates that a function does not use the RST instruction for breakpoints norst void func nouseix Indicates a function does not use the IX register as a stack frame reference pointer This is the d
168. ects either the smallest or the fastest sequence depending on the programmer s choice for opti mization The difference made by this option is less obvious in the user application where most code is not marked nodebug The speed gain by optimizing for speed is most obvi ous for functions that are marked nodebug and have no auto local stack based variables BIOS Memory Setting A single default BIOS source file that is defined in the system registry when install ing Dynamic C is used for both compiling to RAM and compiling to flash Dynamic C defines a preprocessor macro FLASH _ RAM or FAST RAM depending on which of the following options is selected This macro is used to determine the rele vant sections of code to compile for the corresponding memory type e Code and BIOS in Flash If you select this option the compiler will load the BIOS to flash when cold booting and will compile the user program to flash where it will normally reside e Code and BIOS in RAM TIf you select this option the compiler will load the BIOS to RAM on cold booting and compile the user program to RAM This option is useful if you want to use breakpoints while you are debugging your application but you don t want interrupts disabled while the debugger writes a breakpoint to flash this can take 10 ms to 20 ms or more depending on the flash type used It is also possible to have a target that only has RAM for use as a Slave processor but th
169. ecutes the function chain named in this directive all of the functions or segments belonging to the function chain execute Chapter 13 Keywords 199 memmap Syntax memmap options Controls the default memory area for functions The following options are available e anymem NNNN When code comes within NNNN bytes of the end of root code space start putting it in xmem Default memory usage is memmap anymem 0x2000 e root All functions not declared as xmem go to root memory e xmem C functions not declared as root go to extended memory Assembly blocks not marked as xmem go to root memory See the description for xmem for more information on this key word pragma Syntax pragma nowarn warnt warns Trivial warnings warnt or trivial and serious warnings warns for the next physical line of code are not displayed in the Compiler Messages window The argument is optional default behavior is warnt Syntax pragma nowarn warnt warns start Trivial warnings warnt or trivial and serious warnings warns are not displayed in the Com piler Messages window until the pragma nowarn end statement is encountered The argu ment is optional default behavior is warnt pragma nowarn cannot be nested 200 Dynamic C User s Manual precompile Allows library functions in a comma separated list to be compiled immediately after the BIOS The precompile directive is useful for decreasing the download time when developi
170. ed LIBRARY MASTER SERIAL LIB MSrdFree int MSrdFree char address DESCRIPTION Gets the number of bytes available in the specified serial port read buffer on the slave PARAMETERS address Slave channel address of serial handler RETURN VALUE Number of bytes free Success 1 Failure LIBRARY MASTER_SERIAL LIB 110 Dynamic C User s Manual MSsendCommand int MSsendCommand char address char command char data char data returned unsigned long timeout DESCRIPTION Sends a single command to the slave and gets a response This function also serves as a general example of how to implement the master side of the slave protocol PARAMETERS address Slave channel address to send command to command Command to be sent to the slave see Section 8 3 2 1 data Data byte to be sent to the slave data returned Address of variable to place data returned by the slave timeout Time to wait before giving up on slave response RETURN VALUE 20 Response code 1 Timeout occured before response 2 Nothing at that address response Oxff LIBRARY MASTER SERIAL LIB Chapter 8 The Slave Port Driver 111 MSread int MSread char address char buffer int size unsigned long timeout DESCRIPTION Receives bytes from the serial port on the slave PARAMETERS address Slave channel address of serial handler buffer Array to put received data into size Size of array max bytes to be read tim
171. eeeceseeeeeeeeeeeeeeeens 21 Calling Restrictions ceeee 57 4 7 Strings and Character Data 22 CoData Structure eee 57 String Concatenation ee 22 Firsttime Functions 0 eee 57 Character Constants c cceceeee 23 Types of Cofunctions 0 0 58 4 8 Statements cceccccseesecseceseesseseeeeeeee 23 Types of Cofunction Calls 59 4 9 Declarations cccccccecceessceseeesteeeeeeee 24 Special Code Blocks eeee 60 4 10 FUNctions cccecceesceeeseeecesseceeseeees 24 Solving the Real Time Problem 4 11 Prototypes ececssesessescseeecteeeeeerenes 25 with Cofunctions ccc 61 4 12 Type Definitions eee 25 5 6 Patterns of Cooperative Multitasking 61 4 13 Aggregate Data Types 27 5 7 Timing Considerations 0 ee 62 AITAY OE N E E 27 waitfor Accuracy Limits 63 Suc E r EN 27 5 8 Overview of Preemptive Multitasking63 UNON 3 skh ia a 28 5 9 Slice Statements eseeeeeeeee eere eere 63 Composites ss seseeeeeeeeeseeeerreeerereen 28 Slice Synt X aen n ae 63 4 14 Storage Classes cseseeeseeeeeeees 28 USAR E 3s i Aertel eee reales as 64 4 15 Pointers inenen enen 29 Restrictions ssseesesessrreerreeesrosesroee 64 4 16 Pointers to Functions Indirect Calls 30 Slice Data Structure ceceee 65 4 17 Argument Passing 0 0 0 cece eee 31 Slice Internals cece eeeeeeeeeee 65 Dynamic C User s Manual iii
172. efault case nouseix void func NULL The null pointer This is actually a macro not a keyword Same as void 0 Chapter 13 Keywords 183 protected An important feature of Dynamic C is the ability to declare variables as protected Such a variable is protected against loss in case of a power failure or other system reset because the compiler gen erates code that creates a backup copy of a protected variable before the variable is modified If the system resets while the protected variable is being modified the variable s value can be restored when the system restarts This operation requires battery backed RAM and the use of the main system clock If you are using the 32 kHz clock you must switch back to the main system clock to use protected variables because the atomicity of the write cannot be ensured when using the 32 kHz clock main protected int statel state2 state3 _sysIsSoftReset restore any protected variables The callto_sysIsSoftReset checks to see if the previous board reset was due to the com piler restarting the program i e a soft reset If so then it initializes the protected variable flags and calls sysResetChain a function chain that can be used to initialize any protected vari ables or do other initialization If the reset was due to a power failure or watchdog time out then any protected variables that were being written when the reset occurred are restored A system t
173. elative to the Dynamic C installation directory or be a fully qualified path and symbol represents the 20 bit physical address of the downloaded file The external utility supplied with Dynamic C is zcompress exe It outputs the compressed file to the same directory as the input file appending the extension DCZ E g if the input file is named test txt the output file will be named test txt dcz The first 32 bits of the out put file contains the length in bytes of the file followed by its binary contents The most signifi cant bit of the length is set to one to indicate that the file is compressed The sample program zimport c illustrates the use of this compiler directive Please see Appendix C 2 1 for further information regarding file compression and decompression Chapter 13 Keywords 203 204 Dynamic C User s Manual 14 Operators An operator is a symbol such as or amp that expresses some kind of operation on data Most operators are binary they have two operands a 10 two operands with binary operator add Some operators are unary they have a single operand amount single operand with unary minus although like the minus sign some unary operators can also be used for binary operations There are many kinds of operators with operator precedence Precedence governs which oper ations are performed before other operations when there is a choice For example given the expression
174. els 97 8 2 FUNCTIONS sosse erie inssi ik 97 8 3 Examples nnr 102 Status Handler 0 0 cc ceeeeee 102 Serial Port Handler 0 00 103 Byte Stream Handler 116 9 Run Time Errors oeenn 125 9 1 Run Time Error Handling 125 Error Code Ranges cee 125 Fatal Error Codes ccccccccceeeeee 126 9 2 User Defined Error Handlet 127 Replacing the Default Handler 127 9 3 Run Time Error Logging 128 Error Log Buffer ee 128 Initialization and Defaults 129 Configuration Macros 129 Error Logging Functions 130 Examples of Error Log Use 130 10 Memory Management eee 131 10 1 Memory Map 131 Memory Mapping Control 132 10 2 Extended Memory Functions 132 Code Placement in Memory 132 10 3 Dynamic Memory Allocation 133 11 The Flash File System eee 135 11 1 General Usage eee 135 Maximum File Size 135 Two Flash Boards 136 Using SRAM seee 136 Wear Leveling eee eres 136 Low Level Implementation 136 Multitasking and the File System 136 11 2 Application Requirements 137 Library Requirements 137 FS2 Configuration Macros 137 FS2 and Use of the First Flash 139 11 3 File System API Functions 140 FS2 API Error Codes 0 141 11 4 Setting up and Par
175. ence Manual by Harbison and Steel published by Prentice Hall Chapter 1 Installing Dynamic C 1 Dynamic C User s Manual 2 Introduction to Dynamic C Dynamic C is an integrated development system for writing embedded software It is designed for use with Z World controllers and other controllers based on the Rabbit microprocessor The Rab bit family of processors are high performance 8 bit microprocessors that can handle C language applications of approximately 50 000 C statements or 1 MB 2 1 The Nature of Dynamic C Dynamic C integrates the following development functions e Editing e Compiling e Linking e Loading e Debugging into one program In fact compiling linking and loading are one function Dynamic C has an easy to use built in full featured text editor Dynamic C programs can be executed and debugged interactively at the source code or machine code level Pull down menus and keyboard shortcuts for most commands make Dynamic C easy to use Dynamic C also supports assembly language programming It is not necessary to leave C or the development system to write assembly language code C and assembly language may be mixed together Debugging under Dynamic C includes the ability to use printf commands watch expressions and breakpoints Watch expressions can be used to compute C expressions involving the target s program variables or functions Watch expressions can be evaluated while stopped at a breakpoint or wh
176. ent Options Redo lt Shift Ctrl Z gt Redoes changes recently undone This command only works immediately after one or more Undo opera tions Cut lt Ctrl X gt Removes selected text and saves to the clipboard Copy lt Ctrl C gt Makes a copy of text selected in a file or in a debug window The text is saved on the clipboard Pastes text from the clipboard to the current insertion point Nothing can be pasted in a debug ging window The contents of the clipboard may be pasted virtually anywhere repeatedly as long as nothing new is cut or copied into the clipboard in the same or other source files or even in word processing or graphics program documents Insert Code Template lt Ctrl J gt Opens the code template list at the current cursor location Clicking on a list entry or pressing lt Enter gt inserts the selected template at the cursor location in the active edit window The arrow keys may be used to scroll the list Pressing the first letter of the name of a code tem plate selects the first template whose name starts with that letter Pressing the same letter again will go to the next template whose name starts with that letter Continuing to press the same letter cycles through all the templates whose name starts with that letter To create edit or remove templates from the code template list go to Environment Options and click on the Code Templates tab Toggle Bookmark Toggle one of 10 bookmarks in the active edi
177. eout Time to wait between characters before giving up on receiving any more RETURN VALUE The number of bytes read into the buffer behaves like serXread LIBRARY MASTER SERIAL LIB 112 Dynamic C User s Manual MSwrFree int MSwrFree char address DESCRIPTION Gets the number of bytes available in the specified serial port write buffer on the slave PARAMETERS address Slave channel address of serial handler RETURN VALUE Number of bytes free Success 1 Failure LIBRARY MASTER_SERIAL LIB Chapter 8 The Slave Port Driver 113 MSwrite int MSwrite char address char data int length DESCRIPTION Sends an array of bytes out the serial port on the slave behaves like serXwrite PARAMETERS address Slave channel address of serial handler data Array of bytes to send length Size of array RETURN VALUE Number of bytes actually sent LIBRARY MASTER SERIAL LIB 114 Dynamic C User s Manual 8 3 2 4 Sample Program for Master This sample program Samples SlavePort master_demo c treats the slave like a serial port use Master serial 1lib define SP CHANNEL 0x42 chart const test str Hello There main char buffer 100 int read_length MSinit 0 comment this line out if talking to a stream handler printf open returned 0x x n MSopen SP CHANNEL 9600 while 1 costate wfd cof MSwrite SP_ CHANNEL test str strlen test_str w
178. er flash or RAM is called xmem and requires memory management techniques for access In general xmem flash access for program space is transparent to the user but xmem accesses to RAM are not 10 1 Memory Map A typical Dynamic C memory mapping of logical and physical address space is shown in the fig ure below The actual layout may be different depending on board type and compilation options E g enabling separate I amp D space will affect the memory map OxFFFFF OxFFFF Xmem Segment Root Data Stack Segment Interrupt Vectors RAM E Oy oxerao0 Watch Code _ fectors 7 17 7 7 J OxC C00 f __J oxagooo oo o o o neo periei Stack Bae E E EE Data Segment 0xA8000 re E iia et ad Rv Internal Interrupt gt gt Vectors 1 7 0 0x80000 A OxCE00 Xmem Code from Xmem Segment C Flash C Memory Root Code P Base Segment Root Code CCOPA Torie iek 0x0000 Logical Address Space Physical Address Space Figure 1 Dynamic C Memory Mapping Figure 1 illustrates how the logical address space is divided and where code resides in physical memory Both the static RAM and the flash memory are 128K in the diagram Physical memory starts at address 0x00000 and flash memory is usually mapped to the same address SRAM typi cally begins at address 0x80000 If BIOS code runs from flash memory the BIOS code starts
179. er is not useful and may even cause the result ing compressed file to be larger than the original file The original file is not modified by the compression utility nor by the support libraries The compression of FS2 files is a special case Instead of using zimport ximport is used along with the function CompressFile Compressed files are decompressed on the fly using ReadCompressedFile Compressed FS2 files may also be decompressed on the fly by using ReadCompressedFile In addi tion an FS2 file may be decompressed into a new FS2 file by using DecompressFile There are 3 sample programs to illustrate the use of file compression e Samples zimport zimport c demonstrates zimport e Samples zimport zimport_ fs2 c demonstrates file compression in combination with the file system e Samples tcpip http zimport c demonstrates file compression support using the http server C 2 1 2 File Compression Decompression API The file compression API consists of 7 functions 3 of which are of prime importance OpeniInputCompressedFile open a compressed file for reading or open an uncom pressed ximport file for compression CloseInputCompressedFile close input file and deallocate memory buffers ReadCompressedFile perform on the fly decompression The remaining 4 functions are included for compression support for FS2 files OpenOut put CompressedFile open FS2 file for use with CompressFile CloseOutputCompressedFile
180. errlogGetNthEntry Loads errLogEntry structure with the Nth entry from the error log buffer errLogEnt ry is a pre allo cated global structure errlogGetMessage Returns a NULL terminated string containing the 8 byte error message in errLogEntry errlogFormatEntry Returns a NULL terminated string containing basic information in errLogEntry errlogFormatRegDump Returns a NULL terminated string containing the regis ter dump in errLogEntry errlogFormatStackDump Returns a NULL terminated string containing the stack dump in errLogEntry errlogReadHeader Reads error log header into the structure errlog Info ResetErrorLog Resets the exception and restart type counts in the error log buffer header 9 3 5 Examples of Error Log Use To try error logging follow the instructions at the top of the sample programs samples ErrorHandling Generate runtime errors c and samples ErrorHandling Display errorlog c 130 Dynamic C User s Manual 10 Memory Management Processor instructions can specify 16 bit addresses giving a logical address space of 64K 65 536 bytes Dynamic C supports a 1M physical address space 20 bit addresses An on chip memory management unit MMU translates 16 bit addresses to 20 bit memory addresses Four MMU registers SEGSIZE STACKSEG DATASEG and XPC divide and main tain the logical sections and map each section onto physical memory Any memory beyond the 16 bit address capability of the processor wheth
181. ers must be loaded appropriately before calling the xexit function Dynamic C expects the following values to be loaded Table 9 4 Register contents loaded by error handler before passing the error to Dynamic C Register Expected Value H XPC when exception was called L Run time error code HL Address where exception was called from Chapter 9 Run Time Errors 127 9 3 Run Time Error Logging Error logging is available as a BIOS enhancement for storing run time exception history It can be useful diagnosing problems in deployed Rabbit targets To support error logging the target must have battery backed RAM 9 3 1 Error Log Buffer A circular buffer in extended RAM will be filled with the following information for each run time error that occurs The value of SEC_ TIMER at the time of the error This variable contains the number of seconds since 00 00 00 on January 1st 1980 if the real time clock has been set correctly This variable is updated by the periodic timer which is enabled by default Z World sets the real time clock in the factory When the BIOS starts on boards with batteries it initial izes SEC_TIMER to the value in the real time clock The address where the exception was called from This can be traced to a particular func tion using the MAP file generated when a Dynamic C program is compiled The exception type Please see Table 9 2 on page 126 for a list of exception types The v
182. ers defined in a colon separated for mat of BoardID CpuID CrystalS peed RAMSize FlashSize The resulting compiled file will have the same pathname as the source c file being compiled but with a bin extension BoardID Hex integer CpuID 2000r or 3000r where is the revision number of the CPU 2000r0 corresponds to IQ2T 2000r1 corresponds to IQ3T 2000r2 corresponds to IQ4T 2000r3 corresponds to IQST 300010 corresponds to ILIT or IZIT 3000r1 corresponds to IL2T For backward compatibility we also support 2000 corresponds to IQ2T 3000 corresponds to ILIT or IZIT CrystalSpeed Base frequency decimal floating point in MHz RAMSize Decimal in KBytes FlashSize Primary flash decimal in KBytes Factory Default None GUI Equivalent Select Options Project Options Targetless Board Selection and choose a board from the list then select Compile Compile to bin File Compile to Flash Example decl_ cmp myProgram c rti 0x0700 2000r3 11 0592 512 256 a IQ IL and IZ are explained on page 263 290 Dynamic C User s Manual s Port Baud Stopbits Description Factory Default GUI Equivalent Example Use serial transmission with parameters defined in a colon separated for mat of Port Baud Stopbits BackgroundTx Port 1 2 3 4 5 6 7 8 Baud 110 150 300 600 1200 2400 4800 9600 12800 14400 19200 28800 38400 57600 115200 128000 230400 256000 Stopbits 1
183. erse video Show tool bar Each dump window has the option of a tool bar that has a button for updating the dumped region and a text entry box to enter a new starting dump address Show address while scrolling While using the scroll bar a small popup box appears to the right of the scroll bar and displays the address of the first byte in the window This allows you to know exactly where you are as you scroll Show current byte in hint The address and value of the byte that is under the cursor is displayed in a small popup box Show current byte in title bar The address and value of the byte that is under the cursor is displayed in the title bar Chapter 15 Graphical User Interface 247 Segmented Dump Range The memory dump window can display 3 different types of dumps A dump of a logical address will result in a 64k scrollable region 0x0000 Oxffff A dump of a physical address will result in a dump of a 1M region 0x00000 Oxfffff A dump of an xpc offset address will result in either a 4k 64k or 1M dump range depending on how this option is set If a 4k or 64k range is selected the dump window will dump a 4k or 64k chunk of memory using the given xpc If Full Range is selected the win dow will dump 00 0000 ff ffff To increment or decrement the xpc use the and buttons located below and above the scroll bar These buttons are visible only for an xpc offset dump where the range is either 4k or 64k W
184. es The United Nations Convention on Contracts for the Interna tional Sale of Goods shall not apply to this License If for any reason a court of competent jurisdiction finds any provision of this License or portion thereof to be unenforceable that provision of the License shall be enforced to the maximum extent permissible so as to affect the intent of the parties and the remainder of this License shall continue in full force and effect This License constitutes the entire agreement between the parties with respect to the use of the Software and its documentation and supersedes all prior or contemporaneous understandings or agreements written or oral regarding such subject matter There shall be no contract for purchase or sale of the Software except upon the terms and conditions specified herein Any additional or different terms or conditions proposed by You or contained in any purchase order are hereby rejected and shall be of no force and effect unless expressly agreed to in writing by Z WORLD No amendment to or modification of this License will be binding unless in writing and signed by a duly authorized representative of Z WORLD Copyright 2000 Z World Inc All rights reserved 322 Dynamic C User s Manual Index Symbols application program 38 assembly window 157 argument passing 31 154 155 eNAD lesee presne 258 and operators ss 19 160 161 hard Woes ada vaseuee 228 HAS oansnien 147
185. es 0 0 00 eee eens 305 Exception Types eceeeeeeeeeeeeees 306 Rabbit Registers eee 306 Appendix B Map File Generation 307 Grammar cui cedssueed dae 307 Appendix C Dynamic C Modules and Utility Progra MS esea nenes eL Ee Eo ene 309 Dynamic C Modules eee 309 Dynamic C Utilities 311 Font and Bitmap Converter Utility 313 Notice to US T Siocon cnini 317 License Agreement ieee 319 d k orinn a aie Sa 323 vi Dynamic C User s Manual 1 Installing Dynamic C Insert the installation disk or CD in the appropriate disk drive on your PC The installation should begin automatically If it doesn t issue the Windows Run command and type the following command lt disk gt SETUP The installation program will begin and guide you through the installation process 1 1 Requirements Your IBM compatible PC should have at least one free COM port and be running one of the fol lowing e Windows 95 e Windows 98 e Windows 2000 e Windows Me e Windows NT 1 2 Assumptions It is assumed that the reader has a working knowledge of the basics of operating a software program and editing files under Windows on a PC programming in a high level language e assembly language and architecture for controllers For a full treatment of C refer to one or both of the following texts The C Programming Language by Kernighan and Ritchie published by Prentice Hall C A Refer
186. es may be nested SErUcCE char flags struct IUNE 59 LAE Wp loc Jp Cureor Structures can be nested Structure members the variables within a structure are referenced using the dot operator j Cursor OCRA The size of a structure is the sum of the sizes of its components Chapter 4 Language 27 4 13 3 Union A union overlays simple or complex data That is all the union members have the same address The size of the union is the size of the largest member union int ival long jval ie lone swell p j w Unions can be nested Union members the variables within a union are referenced like struc ture elements using the dot operator J iva 4 13 4 Composites Composites of structures arrays unions and primitive data may be formed This example shows an array of structures that have arrays as structure elements typedef struct int x ime ClS2 array in structure node node list 12 array of structures Refer to an element of array c above as shown here ma lige lal Elw Lisic Ol 22 Orem s 7p 4 14 Storage Classes Variable storage can be auto or static The term static means the data occupies a permanent fixed location for the life of the program The term auto refers to variables that are placed on the system stack for the life of a function call The default storage class is auto but can be changed by using class static The default sto
187. executes ifi lt j OK a lt b true whena lt b Less than or equal This binary relational operator yields a boolean value The result is 1 if the left operand is less than or equal to the right operand and 0 otherwise if i lt j body executes ifi lt j OK a lt b true when a lt b Chapter 14 Operators 211 Greater than This binary relational operator yields a Boolean value The result is 1 if the left operand is greater than the right operand and 0 otherwise 22 CS 4 body executes ifi gt j OK a gt b true when a gt b Greater than or equal This binary relational operator yields a Boolean value The result is 1 if the left operand is greater than or equal to the right operand and 0 otherwise oh ot ee a f body executes if i gt j OK a gt b true when a gt b 14 5 Equality Operators Equal This binary relational operator yields a Boolean value The result is 1 if the left operand equals the right operand and 0 otherwise if i j body executes ifi j OK a b true when a b Note that the operator is not the same as the assignment operator A common mistake is to write cd a op 4 body Here i gets the value of j and the if condition is true when i is non zero not when i equals j Not equal This binary relational operator yields a Boolean value The result is 1 if the left oper and is not equal to the right operand
188. f a slice statement is active the timer interrupt decrements the time _out field in the slice s SliceData When the field is decremented to zero the timer interrupt saves the slice statement s context into the SliceBuffer and restores the previous context Once the timer interrupt completes the flow of control is passed to the statement directly following the slice statement A similar set of events takes place when the slice statement does an explicit yield abort waitfor Chapter 5 Multitasking with Dynamic C 65 5 9 5 1 Example 1 Two slice statements and a costatement will appear to run in parallel Each block will run inde pendently but the slice statement blocks will suspend their operation after 20 ticks for slice _aand 40 ticks for slice_b Costate a will not release control until it either explicitly yields aborts or completes In contrast slice_a will run for at most 20 ticks then slice _b will begin running Costate a will get its next opportunity to run about 60 ticks after it relinquishes control Maas 4 HIME Bp Wy BP ew sa 4 costate a slice 500 20 4 slice_a slice 500 40 slice_b 5 9 5 2 Example 2 This code guarantees that the first slice starts on TICK_TIMER evenly divisible by 80 and the second starts on TICK TIMER evenly divisible by 105 main eve Gellert costate slice 500 20 slice_a waitfor IntervalTick 80 slice 500 50 slice_b waitfor In
189. f functions and variables within a library that may be referenced by files that have a use directive for the library some where in the code Modules organize the library contents in such a way as to allow for smaller code size in the com piled application that uses the library To create your own libraries write modules following the guidelines in this section The scope of modules is global but indeterminate compilation order makes the situation less than straightforward Read this entire section carefully to understand module scope 4 23 1 The Parts of a Module A module has three parts the key the header and the body The structure of a module is BeginHeader funcl var2 prototype for funcl extern var2 EndHeader definition of funcl declaration for var2 possibly other functions and data A module begins with its BeginHeader comment and continues until either the next Begin Header comment or the end of the file is encountered Chapter 4 Language 39 4 23 1 1 Module Key The module key is ususally contained within the first line of the module header It is a list of func tion and data names separated by commas The list of names may continue on subsequent lines BeginHeader name name It is important to format the BeginHeader comment correctly otherwise Dynamic C cannot find the contents of the module The case of the word beginheader is unimportant but it must be preceded
190. f int ptr to int const ort tO iia Gorr sal this declaration is equivalent to the previous one iit GOiMmgit ACPE is 174 Dynamic C User s Manual continue Skip to the next iteration of a loop while expression if nothing to do continue costate Indicates the beginning of a costatement costate name state Name can be absent If name is present state canbe always _onorinit_on If state is absent the costatement is initially off debug Indicates a function is to be compiled in debug mode This is the default case for Dynamic C func tions with the exception of pure assembly language functions Library functions compiled in debug mode can be single stepped into and breakpoints can be set in them debug int func asm debug endasm Chapter 13 Keywords 175 default Identifies the default case in a switch statement The default case is optional It executes only when the switch expression does not match any other case switch expression case consti case const2 default do Indicates the beginning of a do loop A do loops tests at the end and executes at least once do while expression The statement must have a semicolon at the end else The false branch of an if statement if expression statement statement executes when expression is true else statement statment executes when expression is false 176 Dynamic C User
191. f program header information No header information will be printed None Enable separate instruction and data space Separate I amp D space is disabled Check Separate Instruction amp Data Space in Project Options Compiler Disable separate instruction and data space Separate I amp D space is disabled Uncheck Separate Instruction amp Data Space in the Project Options Compiler dialog box Chapter 16 Command Line Interface 277 ini Description Generates inline code for WrPortI RdPortI BitWrPortI and BitRdPortI if all arguments are constants Factory Default No inline code is generated for these functions GUI Equivalent Check Inline builin I O functions in the Project Options Compiler dia log box lf Description Undo Library Directory file specification Factory Default No Library Directory file is specified GUI Equivalent This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Uncheck User Defined Lib Directory File mf Description Memory BIOS setting Flash Factory Default Memory BIOS setting Flash GUI Equivalent Select Code and BIOS in Flash in the Project Options Compiler dialog box mfr Description The BIOS and code are compiled to flash and then the BIOS copies the flash image to RAM to run the code Factory Default Memory BIOS setting Flash GUI Equiv
192. f the function description headers are formatted correctly See Function Description Headers on page 43 the functions in the libraries listed in the user defined replacement for 1ib dir will be available with lt Ctrl H gt just like the user callable functions that come with Dynamic C This is the same as the command line compiler 1 f option Watch Code Allow any expressions in watch expressions This option causes any compilation of a user program to pull in all the utility functions used for expression evaluation Restricting watch expressions may save root code space Choosing this option means only utility code already used in the application program will be compiled Debug Instructions and BIOS Inclusion Include RST 28 instructions If this is checked the debug and nodebug keywords and compiler directives work as normal Debug code consists mainly of RST 28h instructions inserted after every C statement This option also controls the definition of a compiler defined macro symbol DEBUG_RST If the menu item is checked then DEBUG _RST is set to one otherwise it is zero If the option is not checked the compiler marks all code as nodebug and debugging is not possible The only reason to check this option if debugging is finished and the program is ready to be deployed is to allow some current or planned diagnostic capa bility of the Rabbit Field Utility RFU to work in a deployed system This option affects
193. fd cof MSwrite SP_ CHANNEL test str strlen test_str costate wfd read_length cof MSread SP_ CHANNEL buffer 99 10 if read_length gt 0 buffer read_ length 0 null terminator printf Read s n buffer else if read_length lt 0 printf Got read error d n read length printf wrfree d n MSwrFree SP_ CHANNEL Chapter 8 The Slave Port Driver 115 8 3 3 Byte Stream Handler The library SP_STREAM LIB implements a byte stream over the slave port If the master is a Rabbit the functions in MASTER_SERIAL LIB can be used to access the stream as though it came from a serial port on the slave 8 3 3 1 Slave Side of Stream Channel To set up the function SPShandler as the byte stream handler do the following SPsetHandler 10 SPShandler stream ptr This function sets up the stream to use channel 10 on the slave A sample program in Section 8 3 3 2 shows how to set up and initialize the circular buffers An internal data structure SPSt ream keeps track of the buffers and a pointer to it is passed to SPsetHandler and some of the auxiliary functions that supports the byte stream handler This is also shown in the sample program 8 3 3 1 1 Functions These are the auxiliary functions that support the stream handler function SPShandler cbuf init void cbuf init char circularBuffer int dataSize DESCRIPTION This function initializes a circular buf
194. fer PARAMETERS circularBuffer The circular buffer to initialize dataSize Size available to data The size must be 9 bytes more than the number of bytes needed for data This is for internal book keeping LIBRARY RS232 LIB 116 Dynamic C User s Manual cof SPSread int cof SPSread SPStream stream void data int length unsigned long tmout DESCRIPTION Reads length bytes from the slave port input buffer or until tmout milliseconds transpires between bytes after the first byte is read It will yield to other tasks while waiting for data This function is non reentrant PARAMETERS stream Pointer to the stream state structure data Structure to read from slave port buffer length Number of bytes to read tmout Maximum wait in milliseconds for any byte from previous one RETURN VALUE The number of bytes read from the buffer LIBRARY SP_STREAM LIB Chapter 8 The Slave Port Driver 117 cof SPSwrite int cof SPSwrite SPStream stream void data int length DESCRIPTION Transmits length bytes to slave port output buffer This function is non reentrant PARAMETERS stream Pointer to the stream state structure data Structure to write to slave port buffer length Number of bytes to write RETURN VALUE The number of bytes successfully written to slave port LIBRARY SP_ STREAM LIB SPSinit void SPSinit void DESCRIPTION Initializes the circular buffers used by the stream handler LIBRARY
195. for all API functions for dynamic memory allocation are in the Dynamic C Function Reference Manual Or use Function Lookup from the Help menu or Ctrl H to gain quick access to the function descriptions from within Dynamic C Library Function Lookup ioj x Function Search palloc in C DYNAMIC C SSLIBSPOOL LIB paddr in C DYNAMIC C SSLIBSSMEM _LIB paddiDS in C DYNAMIC C SSLIBSXMEM _LIB PKTDRY LIB paddrS in C DYNAMIC C S LIBSXMEM LIB A es alloc in C DYNAMIC C SSLIBSPOOL LIB dabei palloc_fast in C DYNAMIC C S LIBSPOOL LIB palloc_fast pavail in C DYNAMIC C S LIBSPOOL LIB pavail pavail_fast in CADYNAMIC C SSLIBSPOOL LIB pavail_fast pealloc in C DYNAMIC C S LIB POOL LIB al Reta pd_getaddress in C DYNAMIC C S LIB TCPIPSPKTDRY LIB po pd_getaddresslen in C DYNAMIC C SSLIB TCPIPSPKTDRY LIB pfirst pd_havelink in C DYNAMIC C S LIBSTCPIPAPKTDRY LIB i pfirst_fast pd_powerdown in C N DYNAMIC C SSLIBSTCPIPSPKTDRY LIB pd_powerup in C DYNAMIC C SSLIB TCPIPSPKTDRY LIB ai pfirst in C SDYNAMIC C SSLIBSPOOL LIB hd gt Wo pa pfree a na Fant Figure 2 How to quickly access function descriptions from within Dynamic C Read the comments at the top of LIB POOL LIB for a description of how to use dynamic memory allocation in Dynamic C Chapter 10 Memory Management 133 134 Dynamic C User s Manual 11 The Flash File System The Dynamic C file system known
196. for example struct s WNE See Inte y aie Ap E the embedded assembly expression s x evaluates to 0 s y evaluates to 2 and s z evaluates to 4 regardless of where structure s may be In nested structures offsets can be composite as shown here struct s LAE Rp 8 x 0 struct af M Stanz aime 19 a b O0st a b 2 int c f f APCHEZ5tAt esa ie pe 152 Dynamic C User s Manual 12 3 Stand Alone Assembly Code A stand alone assembly function is one that is defined outside the context of a C language func tion A stand alone assembly function has no auto variables and no formal parameters It can how ever have arguments passed to it by the calling function When a program calls a function from C it puts the first argument into a primary register If the first argument has one or two bytes int unsigned int char pointer the primary register is HL with register H containing the most significant byte If the first argument has four bytes long unsigned long float the primary register is BC DE with register B containing the most significant byte Assembly language code can use the first argument very efficiently Only the first argument is put into the primary register while all arguments including the first pushed last are pushed on the stack C function values return in the primary register if they have four or fewer bytes either in HL or BC DE Assembly language all
197. ghted entry from the Watches window Delete All Watches Removes all entries from the Watches window Update Watch Window lt Ctrl U gt Forces expressions in the Watches window to be evaluated If the target is running nodebug code the Watches window will not be updated and the PC will lose communication with the target Inserting an RST 028h instruction into frequently executed nodebug code will allow the Watches window to be updated while running in nodebug code Normally the Watches window is updated every time the execution cursor is changed that is when a single step a breakpoint or a stop occurs in the program Evaluate Expression Brings up the Evaluate Expression dialog where you can enter a single expression in the Expression dialog The result is displayed in the Result text box when Evaluate is clicked Multiple Evaluate Expression dialogs can be active at the same time Disassemble at Cursor lt Ctrl F10 gt Loads disassembles and displays the code at the current editor cursor location This command does not work in user application code declared as nodebug Also this command does not stop the execution on the target Disassemble at Address lt Alt F10 gt Brings up the Disassemble at Address dialog where you can enter an address at which to begin disassembly The format of the address is either the logical address specified as a hex number Oxnnnn or just nnnn or as an xpc offset pair separated by a colon nn mmmm The D
198. gister Functions called from within a cofunction may use the IX register if they restore it before the cofunction is exited which includes an exit via an incomplete wait fordone statement In the case of an application that uses the useix directive the IX register will be corrupted when any stack variable using function is called from within a cofunction or if a stack variable using function contains a call to a cofunction 5 5 3 CoData Structure The CoData structure discussed in Section 5 4 1 applies to cofunctions each cofunction has an associated CoData structure 5 5 4 Firsttime Functions The firsttime functions discussed in Firsttime Functions on page 55 can also be used inside cofunctions They should be called inside a wait for statement If you call these functions from inside a wfd statement no compiler error is generated but since these delay functions do not yield while waiting for the desired time to elapse but instead return 0 to indicate that the desired time has not yet elapsed the wfd statement will consider a return value to be completion of the firsttime function and control will pass to the statement following the wfd Chapter 5 Multitasking with Dynamic C 57 5 5 5 Types of Cofunctions There are three types of cofunctions simple indexed and single user Which one to use depends on the problem that is being solved A single user indexed cofunction is not valid 5 5 5 1 Simple Cofunction A simple cof
199. gisters on the Slave From the point of view of the master the slave is an I O device with four register addresses Table 8 1 The slave registers that are accessible by the master Address of Register interna Register From g Address of g Register Use Name Master s Register gt Perspective SPDOR 0x20 0 Command and response register SPD1R 0x21 1 Address register SPD2R 0x22 2 Optional data register 0x23 3 Slave port status register In this protocol the only bit used is for checking the command response register SPSR Bit 3 is set if the slave has written to SPDOR It is cleared when the master writes to SPSR which also deasserts the SLAVEATTN line Chapter 8 The Slave Port Driver 95 Accessing the same address 0 1 or 2 uses two different registers depending on whether the access was a read or a write In other words when writing to address 0 the master accesses a dif ferent location than when the it reads address 0 Table 8 2 What happens when the master accesses a slave register Register y Address Read Write 0 Gets command response from Sends command to slave triggers slave slave response 1 Not used Sets channel address to send command to 2 Gets returned data from slave Sets data byte to send to slave 3 Gets slave port status see Clears slave response bit see below below The status port is a bit field showing which slave port registers have been
200. gle quote double quote Examples wie saic iello yii embedded double quotes Gonet Gonar J IZ character constant const char MSG Put your disk in the A drive n embedded new line at end printf MSG print MSG CGlneie Cleiraullic Wis empty string a single null byte 4 8 Statements Except for comments everything in a C program is a statement Almost all statements end with a semicolon A C program is treated as a stream of characters where line boundaries are generally not meaningful Any C statement may be written on as many lines as needed The Dynamic C text editor enforces a 512 byte limit on the length of a line Similarly the Dynamic C compiler is only guaranteed to parse up to 512 bytes for any single C statement A statement can be many things A declaration of variables is a statement An assignment is a statement A while or for loop is a statement A compound statement is a group of statements enclosed in braces and A group of statements may be single statements and or compound statements Comments the kind may occur almost anywhere even in the middle of a statement as long as they begin with and end with Chapter 4 Language 23 4 9 Declarations A variable must be declared before it can be used That means the variable must have a name and a type and perhaps its storage class could be specified If an array is declared its size must be given Root data arr
201. gram recompile will only be required when a source file has been edited Editor Window Popup Menu Right click anywhere in the editor window and a popup menu will appear TS Dynamic C Dist 8 01Beta2 Of x File Edit Compile Run Inspect Options Window Help D ei BRaAAAT SR MASR New Ctrl N Open File at Cursor Ctrl Enter Close Ctrl F 4 Insert Code Template f Toggle Bookmark main Go to Bookmark int i j ot Wikre Sopy Sipe 0 Raste Bikes Find Ctrl F while 1 Edithiode FA i Add Watch Cirle r for j 0 j lt 20000 j Options printfi i d n i b Defaut Line 14 Cok 39 Insert 4 All of the menu options with the exception of Open File at Cursor are available from the main menu e g New is an option in the File menu and was described earlier with the other options for that menu 224 Dynamic C User s Manual Open File at Cursor lt Ctrl Enter gt Attempts to open the file whose name is under the cursor The file will be opened in a new edi tor window if the file name is listed in 1ib dir as either an absolute path or a path relative to the Dynamic C root directory or if the file is in Dynamic C s root directory As a last resort an Open dialog box will appear so that the file may be manually chosen 15 2 3 Compile Menu Click the menu title or press lt Alt C gt to select the COMPILE menu Dynamic C Dist 8 00Beta2 Bun Inspect Op
202. hange the JR instruction to a JP instruction Another solution is to em bed a null C statement in the assembly code like so asm c i i Seta breakpoint on the semicolon endasm Uses Use breakpoints when you need to stop at a specified location to begin single stepping or to examine variables memory locations or register values 72 Dynamic C User s Manual Example OpenSamples Demol1 c If you are using DC 9 place the cursor on the word for then press F2 to insert a breakpoint Otherwise press F5 to compile the program before setting the breakpoint Now press F9 Ev ery time you press F9 program execution will stop when it hits the start of the for loop From here you can single step or look at a variety of in formation through debug windows For example let us say there is a problem when you get to the limit of a for loop You can use the Evaluate Expressions dialog to set the loop ing variable to a value that brings program execution to the exact spot that you want as shown in this screenshot S CA DYNAMIC C 9 SAMPLES DEMOL C 10 11 12 13 14 15 16 17 18 19 20 21 9 main Fie 33 Result j 19999 int 19999 0x4 1F while 1 Close Help i for j3 0 j lt 20000 j printf i d n ij y H 2 Figure 6 1 Altering the looping variable when stopped at a breakpoint Chapter 6 Debugging with Dynamic C 73 6 1 3 Single Stepping Single stepping has always been available
203. haracters Pros Cons Uses Example Aprintf statement is quick easy and sometimes all that is needed to nail down a problem You can use ifdef directives to create levels of debugging informa tion that can be conditionally compiled using macro definitions This is a technique used by Z World engineers when developing Dynamic C li braries In the library code you will see statements such as ifdef LIBNAME DEBUG printf Insert information here n endif ifdef LIBNAME VERBOSE printf Insert more information n endif By defining the above mentioned macro s you include the correspond ing printf statements The printf function is so easy to use it is easy to overuse This can lead to a shortage of root memory A solution to this that allows you to still have lots of printf strings is to place the strings in extended mem ory xmem using the keyword xdata and then call printf with the conversion character ls An overuse of printf statements can also af fect execution time Use to check a program s flow without stopping its execution There are numerous examples of using printf in the programs provided in the Samples folder where you installed Dynamic C To display a string to the Stdio window place the following line of code in your application printf Entering my_function n To do the same thing but without using root memory xdata entering Entering my _funct
204. hat is dis played in the Disassembled Code window The last menu option Use Syntax Highlighting dis plays the colors that were set for the editor window in the Disassembled Code window as well To resize a column in the assembly window move the mouse pointer to one of the vertical bars that is between each of the column headers For instance if you move the mouse pointer between Address and Machine Code the pointer will change from an arrow to a vertical bar with arrows pointing to the right and left Hold the left mouse button down and drag to the right or left to grow or shrink the column Register F11 Select Register to activate or deactivate the Register window This window displays the pro cessor register set including the status register Letter codes indicate the bits of the status reg ister also known as the flags register The window also shows the source code line and column at which the snapshot of the register was taken It is possible to scroll back to see the progression of successive register snapshots Register values may be changed when program execution is stopped Registers PC XPC and SP may not be edited as this can adversely affect program flow and debugging See Register Window on page 245 for more details on this window Chapter 15 Graphical User Interface 267 Stack F12 Trace Alt F12 Select Stack to activate or deactivate the Stack window The Stack win dow displays the top 32 bytes
205. hat shares data among different tasks or among interrupt routines can find its shared data corrupted if an interrupt occurs in the middle of a write to a multi byte variable such as type int or float The variable might be only partially written at its next use Declaring a multi byte variable shared means that changes to the variable are atomic i e interrupts are disabled while the variable is being changed You may declare a multi byte variable as both shared and pro tected return Explicit return from a function For functions that return values this will return the function result void func if expression return float func int x float temp return temp 10 1 184 Dynamic C User s Manual root Indicates a function is to be placed in root memory This keyword is semantically meaningful in function prototypes and produces more efficient code when used Its use must be consistent between the prototype and the function definition root int func memmap root fasm root endasm segchain Identifies a function chain segment within a function int func int arg int vec 10 segchain GLOBAL INIT 0 for i 0 i lt 1l10 i vec i This example adds a segment to the function chain GLOBAL INIT Using segchain is equivalent to using the GLOBAL_ INIT directive When this function chain executes this and perhaps other segments elsewhere execute The effe
206. heir location size and their file of origin e a list of all macros used their file of origin and the line number within that file where the macro is defined e function call graph A valid map file is produced after a successful compile so it is available when a program crashes If the compile was not successful for example you get a message that says you ran out of root code space the map file will still be created but will contain incomplete and possibly incorrect information Map files are useful when you want to gather more data or are trying to get a comprehensive overview of the program A map file can help you make better use of memory in cases where you are running short or are experiencing stack overflow problems Say you are pushing the limits of memory in your application and want to see where you can shave bytes The map file contains sizes for all the data used in your program The screen shot below shows some code and part of its map file Maybe you meant to type 200 as the size for my array and added a zero on the end by mistake This is a good place to mention that using hard coded values is more prone to error than defining and using constants 7E CA DYNAMIC C 9 SAMPLES D main int i j int my_array 2000 l DYNAMIC C 9 SAMPLES DEMO1 MAP Parameter and local auto symbol mapping and source reference Offset Rel to Size Symbol 4002 SP main i 4000 SP main j 0 SP main my_array
207. hould be read first to latch the count Returns count of bytes currently in the serial port write buffer The two 16 17 commands return the LSB and the MSB of the count respectively The LSB 16 should be read first to latch the count Chapter 8 The Slave Port Driver 103 8 3 2 2 Slave Side of Protocol To set up the serial port handler to connect serial port A to channel 5 do the following SPsetHandler 5 SPserAhandler NULL 8 3 2 3 Master Side of Protocol The following functions are in Master _serial 1ib They are for a master using a serial port handler on a slave cof MSgetc int cof MSgetc char address DESCRIPTION Yields to other tasks until a byte is received from the serial port on the slave PARAMETERS address Slave channel address of the serial handler RETURN VALUE Value of the received character on success 1 Failure LIBRARY MASTER_SERIAL LIB 104 Dynamic C User s Manual cof MSputc void cof MSputc char address char ch DESCRIPTION Sends a character to the serial port Yields until character is sent PARAMETERS address Slave channel address of serial handler ch Character to send RETURN VALUE 0 Success character was sent 1 Failure character was not sent LIBRARY MASTER SERIAL LIB Chapter 8 The Slave Port Driver 105 cof MSread int cof MSread char address char buffer int length unsigned long timeout DESCRIPTION Reads bytes f
208. ign the result of the calculation to the variable x It prints the result using the library function printf which includes a formatting string as the first argument Notice that all functions have and enclosing their contents and all variables are declared before use The functions init and sumSquare were defined before use but there are alternatives to this The Prototypes section explained this 26 Dynamic C User s Manual 4 13 Aggregate Data Types Simple data types can be grouped into more complex aggregate forms 4 13 1 Array A data type whether it is simple or complex can be replicated in an array The declaration int item 10 An array of 10 integers represents a contiguous group of 10 integers Array elements are referenced by their subscript J weem lma y The nth element of the array Array subscripts count up from 0 Thus item 7 above is the eighth item in the array Notice the and enclosing both array dimensions and array subscripts Arrays can be nested The fol lowing doubly dimensioned array or array of arrays int matrix 7 3 is referenced in a similar way scale matrix i j The first dimension of an array does not have to be specified as long as an initialization list is specified iwe zit 4 f1 2 3 4h 15 E J3 char string abcdefg 4 13 2 Structure Variables may be grouped together in structures Struct in C or in arrays Structur
209. ile mode can be overridden with the switches described in Section 16 4 16 2 User Input Applications requiring user input must be called with the i option dccl_ cmp myProgram c i myProgramInputs txt where myProgramInputs txt is a text file containing the inputs as separate lines in the order in which myProgram c expects them 16 3 Saving Output to a File The output consists of all program printf s as well as all error and warning messages Output to a file can be accomplished with the O option dccl_ cmp myProgram c i myProgramInputs txt o myOutputs txt where myOutputs txt is overwritten if it exists or is created if it does not exist If the oa option is used myOut puts txt is appended if it exists or is created if it does not Chapter 16 Command Line Interface 275 16 4 Command Line Switches Each switch must be separated from the others on the command line with at least one space or tab Extra spaces or tabs are ignored The parameter s required by some switches must be added as separate text immediately following the switch Any of the parameters requiring a pathname including the source file pathname can have imbedded spaces by enclosing the pathname in quotes 16 4 1 Switches Without Parameters b Description Use compile mode Compile to bin file using attached target Factory Default Compile mode Compile to attached target GUI Equivalent Compile program F5 with Default Compile Mode set to Compile to
210. ile the target is running its program Dynamic C 9 introduces advanced debugging features such as execution and stack tracing Execution tracing can be used to follow the execution of debuggable statements including such information as function file name source code line and column numbers action performed time stamp of action performed and register contents Stack tracing shows function call sequences and parameter values Dynamic C provides extensions to the C language such as shared and protected variables cos tatements and cofunctions that support real world embedded system development Dynamic C supports cooperative and preemptive multitasking Dynamic C comes with many function libraries all in source code These libraries support real time programming machine level I O and provide standard string and math functions Chapter 2 Introduction to Dynamic C 3 2 1 1 Speed Dynamic C compiles directly to memory Functions and libraries are compiled and linked and downloaded on the fly On a fast PC Dynamic C might load 30 000 bytes of code in 5 seconds at a baud rate of 115 200 bps 2 2 Dynamic C Enhancements and Differences Dynamic C differs from a traditional C programming system running on a PC or under UNIX The reason To be better help customers write the most reliable embedded control software possible It is not possible to use standard C in an embedded environment without making adaptations Stan dard C makes many assu
211. iler dccl_cmp exe performs the same compilation and program execution as its GUI counterpart dcrabxx exe but is invoked as a console applica tion from a DOS window It is called with a single source file program pathname as the first parameter followed by optional case insensitive switches that alter the default conditions under which the program is run The results of the compilation and execution all errors warnings and program output are directed to the console window and are optionally written or appended to a text file 16 1 Default States The command line compiler uses the values of the environment variables that are in the project file indicated by the pf switch or if the pf switch is not used the values are taken from default dcp For more information please see Chapter 17 Project Files on page 293 The command line compiler will compile and run the specified source file The exception to this is when the project file Default Compile Mode is one of the options which compiles to a bin file in which case the command line compiler will not run the program but will only compile the source to a bin file Command line help displayed to the console with dccl_ cmp gives a summary of switches with defaults from the default project file default dcp and dccl_ cmp pf specified project name dcp gives a summary of switches with defaults from the specified project file All project options including the default comp
212. ill display in the v Full file pathname rightmost column of the Trace window that comes before the register contents column A value dis Lory Lact Hee RE Copy with header Ctrl Alt C played under Show Repeat Count is the number of times the corresponding statement has been executed Save trace window to file and therefore traced The Timestamp column is not updated for subsequent traces of a repeated statement The Group repeated statements option is useful when tracing statements inside a loop The rest of the pop up menu options are more or less self explanatory You can choose to open the source code for any function in the Trace window by selecting the function and choosing Open Source In the above screenshots note that a trace statment for kbhit is selected in the Trace window Choosing Open Source in this situation would open a window for STDIO LIB the library file that contains the function kbhit 268 Dynamic C User s Manual You can also toggle auto scroll as well as decide whether to display the complete path in the File Name column The last three menu options are for saving Trace window contents to another file You can select trace statements in the window and then using Copy selected traces or Copy with header you can paste the selected traces anywhere you can perform a paste operation You can also choose to copy the entire contents of the current Trace window to anamed file This is similar to the option in th
213. in the titlebar Either or both of these options may be disabled by right clicking in the Memory Dump window or in the Options Environment Options Debug Windows tab under Specific Preferences for the Memory Dump window Memory Dump 00022 FF Update bution gt 000000 C3 28 00 77 1D 00 FF FF FF FF 1D CF Bl EB 3E 80 32 4A 100022 FF 00 OS CD 4 14 04 D3 32 C3 ES DD ES FD FD El DD El 5D C9 D3 3A D3 32 C3 00 00 C9 44 79 61 6C 20 SZ 65 72 73 69 ED 67 7D ED C9 CF 68 EA CS 3A ES CS 2 fox20000 gt i FF FF FF FF F gt 2J wo o of i t 37 t e 2 v w N g oOo ee _ t4 DynamiCUnive rsal Rabbit BIOS Version 7 32 T ol g T33 gt Z 2 h z E s f 2 gt Memory Dump windows may be scrolled Scrolling causes the contents of other memory addresses to appear in the window Hotkeys ArrowUp ArrowDown PageUp PageDown are active in the Memory Dump window The window always displays as many lines of 16 bytes and their ASCII equivalent as will fit in the window Values in the Dump window are updated automatically either when Dynamic C stops or comes to a breakpoint Updates only occur if the window is updateable This can be set either by right clicking in the Memory Dump window and toggling the updateable menu item or by clicking on the Debug Windows tab in Options Environment Options Select Memory Dump under Specific Preferences then check the opti
214. in statements if the expression is true and executes another group of statements when the expression is false if expression some statement s if true Jelse some statement s if false The fullest form of the if statements produces a succession of tests LEl expr JA some statements else if expr f some statements else if expr some statements elsef some statements The program evaluates the first expression expr If that proves false it tries the second expres sion expr and continues testing until it finds a true expression an else clause or the end of the if statement An else clause is optional Without an else clause an if else if state ment that finds no true condition will execute none of the controlled statements The switch statement the most complex branching statement allows the programmer to phrase a multiple choice branch differently switch expression case const statements break case const statements break case const3 statements break default statement SDEFAULT First the switch expression is evaluated It must have an integer value If one of the consty values matches the switch expression the sequence of statements identified by the consty Chapter 4 Language 35 expression is executed If there is no match the sequence of statements identified by the default label is executed The default part is optional Unless the break keywo
215. in the root code section at address 0x00000 and fills upward The rest of the root code will continue to fill upward immediately fol Chapter 10 Memory Management 131 lowing the BIOS code If the BIOS code runs from SRAM the root code section along with root data and stack sections will start at address 0x80000 10 1 1 Memory Mapping Control The advanced user of Dynamic C can control how Dynamic C allocates and maps memory For details on memory mapping refer to any of the Rabbit microprocessor user s manuals or designer s handbooks You can also refer to one of our technical notes TN202 Rabbit Memory Management in a Nutshell All of these documents are available at www zworld com docs and www rabbitsemiconductor com docs 10 2 Extended Memory Functions A program can use many pages of extended memory Under normal execution code in extended memory maps to the logical address region EOOOH to FFFFH Extended memory addresses are 20 bit physical addresses the lower 20 bits of a long integer Pointers on the other hand are 16 bit machine addresses They are not interchangeable However there are library functions to convert address formats To access xmem data use function calls to exchange data between xmem and root memory Use the Dynamic C functions root2xmem xmem2root and xmem2xmem to move blocks of data between logical memory and physical memory 10 2 1 Code Placement in Memory Code runs jus
216. ined the Software The Software may not be exported to any of the following countries Cuba Iran Iraq Libya North Korea Sudan or Syria 5 Government End Users If You are acquiring the Software on behalf of any unit or agency of the United States Government the following provisions apply The Government agrees i if the Software is supplied to the Department of Defense DOD the Software is classified as Commercial Computer Software and the Government is acquiring only restricted rights in the Software and its documentation as that term is defined in Clause 252 227 7013 c 1 of the DFARS and ii if the Software is supplied to any unit or agency of the United States Govern ment other than DOD the Government s rights in the Software and its documentation will be as defined in Clause 52 227 19 c 2 of the FAR or in the case of NASA in Clause 18 52 227 86 d of the NASA Supplement to the FAR 320 Dynamic C User s Manual 6 Disclaimer of Warranty You expressly acknowledge and agree that the use of the Software and its documentation is at Your sole risk THE SOFTWARE DOCUMENTATION AND TECHNICAL SUPPORT ARE PROVIDED ON AN AS IS BASIS AND WITHOUT WAR RANTY OF ANY KIND Information regarding any third party services included in this pack age is provided as a convenience only without any warranty by Z WORLD and will be governed solely by the terms agreed upon between You and the third party providing such ser vices Z WOR
217. int char or a pointer return the result in HL register H contains the most significant byte If the result is a long unsigned long or float return the result in BCDE register B contains the most significant byte A C function containing embedded assembly code may of course use a C return statement to return a value A stand alone assembly routine however must load the pri mary register with the return value before the ret instruction Chapter 12 Using Assembly Language 159 12 5 3 Returning a Structure In contrast if a function returns a structure of any size the calling function reserves space on the stack for the return value before pushing the last argument if any Dynamic C functions contain ing embedded assembly code may use aC return statement to return a value A stand alone assembly routine however must store the return value in the structure return space on the stack before returning Inline assembly code may access the stack area reserved for structure return values by the symbol RETVAL which is an offset from the frame reference point The following code shows how to clear field 1 of a structure as a returned value of type struct s typedef struct ss aliaie i O first field char f1 second field xyz xyz my struct my Struct tunel y xyz func asm xor a clear register A ld hl SP RETVAL ss f1 hl lt the offset from SP to the f1 field of the returned structure
218. interruptible 8 1 4 Communication Channels The Rabbit slave has 256 configurable channels available for communication The developer must provide a handler function for each channel that is used Some basic handlers are available in the library Slave _ Port 1ib These handlers will be discussed later in this chapter When the slave port driver is initialized a callback table of handler functions is set up Handler functions are added to the callback table by SPSetHandler 8 2 Functions Slave _port 1ib provides the following functions SPinit SPsetHandler MyHandler SPtick SPclose Chapter 8 The Slave Port Driver 97 SPinit int SPinit int mode DESCRIPTION This function initializes the slave port driver It sets up the callback tables for the dif ferent channels The slave port driver can be run in either polling mode where SPtick must be called periodically or in interrupt mode where an ISR is triggered every time the master sends a command There are two version of interrupt mode In the first interrupts are reenabled while the handler function is executing In the other the handler function will execute at the same interrupt priority as the driver ISR PARAMETERS mode 0 For polling 1 For interrupt driven interruptible handler functions 2 For interrupt driven non interruptible handler functions RETURN VALUE 1 Success 0 Failure LIBRARY SLAVE PORT LIB 98 Dynamic C User s Manua
219. ion printf ls n entering Chapter 6 Debugging with Dynamic C 71 6 1 2 Breakpoints Breakpoints have always been available in Dynamic C They have been improved over several versions the Clear All Breakpoints command was introduced in DC 7 10 the ability to set break points in ISRs was introduced in DC 7 30 and most recently DC 9 introduces persistent break points and the ability to set breakpoints in edit mode Pros Breakpoints can be set on any C statement unless it is declared nodebug and in any assembly block that is declared as asm debug Breakpoints let you run a program at full speed until the desired stop ping point is reached You can set multiple breakpoints in a program or even on the same line They are easy to toggle on and off individually and can all be cleared with one command You can choose whether to leave interrupts turned on soft breakpoint or not hard breakpoint When stopped at a breakpoint you can examine up to date contents in debug windows and choose other debugging features to employ such as single stepping dumping memory fly over watch expressions Cons To support large sector flash breakpoint internals require that break point overhead remain even when a the breakpoint has been toggled off Recompile the program to remove this overhead When the debug keyword is added to an assembly block relative jumps which are limited to 128 bytes may go out of range If this happens c
220. ion Reference Manual Function Lookup Displays descriptions for library functions The keyboard shortcut is lt Ctrl H gt Pza Library Function Lookup OF x Function Search _glMenulnit in E DC S LIB DISPL4AYS GRAPHIC GLMENU LIB GPS LIB _glMenuKeypad in E DC 8 LIB DISPLAYS GRAPHIC GLMENU LIB 23 GRAPHIC LIB glMenuShadow in E DC 8 LIB DISPLAYS GRAPHIC GLMENU LIB HDLC PACKET LIB ing in E SDC S LIBSTCPIPSICMP LIB _prot_init in E DC 8 LIBSSYS LIB HTTPLIB _prot_recover in E DC 8 LIB SY S LIB 12C LIB _send_ping in E DC 8 LIB TCPIPSICMP LIB 120 DEVICES LIB syslsSoftReset in E DC S LIB SY S LIB ICMP LIB abs in E DC 8 LIB MATH LIB oe acos in E DC 8 LIB4 MATH LIB _chk_ping acot in E DC 8 LIB MATH LIB _ping aese in E DC S LIB MATH LIB send prg ADS7870lnit in E DC S SAMPLES SPIADS7870 LIB S ICOMLLID ADS7870Read in E DC S SAMPLES SPIADS7870 LIB Choosing a function is done in one of several ways You may type the function name in the Function Search entry box Notice how both scroll areas underneath the entry box display the first function that matches what you type The functions to the left are listed alphabetically while those on the right are arranged in a tree format displaying the libraries alphabetically with their functions collapsed underneath You may scroll either of these two areas and have whatever you select in one area reflected in the other area and in the
221. ion aborts Chapter 5 Multitasking with Dynamic C 59 5 5 7 Special Code Blocks The following special code blocks can appear inside a cofunction everytime statements This must be the first statement in the cofunction The everytime statement block will be executed on every cofunc continuation call no matter where the statement pointer is pointing After the everytime statement block is executed control will pass to the statement pointed to by the cofunction s statement pointer The everytime statement block will not be executed during the initial cofunc entry call abandon statements This keyword applies to single user cofunctions only and must be the first statement in the body of the cofunction The statements inside the curly braces will be executed if the single user cofunction is forcibly abandoned A call to loophead defined in COFUNC LIB is necessary for abandon statements to execute Example Samples COFUNC COFABAND C illustrates the use of abandon scofunc SCofTest int i abandon printf CofTest was abandoned n while i gt 0 print CofTest d n i yield main TINE Rep for x 0 x lt 10 x loophead ileo S costate wfd SCofTest 1 first caller costate wid SCofTest 2 second caller In this example two tasks in main are requesting access to SCofTest The first request is hon ored and the second request is held When
222. ions depend on timer variables which are maintained by the periodic interrupt Chapter 7 The Virtual Driver 91 7 3 Global Timer Variables SEC_TIMER MS_TIMER and TICK TIMER are global variables defined as shared unsigned long These variables should never be changed by an application program Among other things the TCP IP stack depends on the validity of the timer variables On initialization SEC_TIMER is synchronized with the real time clock The date and time can be accessed more quickly by reading SEC_TIMER than by reading the real time clock The periodic interrupt updates SEC_TIMER every second MS_ TIMER every millisecond and TICK TIMER 1024 times per second the frequency of the periodic interrupt These variables are used by the DelaySec DelayMS and DelayTicks functions but are also convenient for application programs to use for timing purposes The following sample shows the use of MS_ TIMER to measure the execution time in microseconds of a Dynamic C integer add The work is done in a nodebug function so that debugging does not affect timing For more informa tion on the nodebug keyword please see nodebug on page 183 define N 10000 main timeit nodebug timeit unsigned long int TO Hoare Wal Lime 38 78 aLialic al g TO MS TIMER for i 0 i lt N i TI gives empty loop time T1 MS_TIMER T0 TO MS_TIMER for i 0 i lt N i x y T2 gives test code execution time T2 MS_TIMER T
223. iority level must be restored immediately before the return instructions ret or reti If the interrupts are enabled earlier the system can stack up the interrupts This may or may not be acceptable because there is the potential to overflow the stack 7 Return There are three types of interrupt returns ret reti and retn The value in IP is shown in the status bar at the bottom of the Dynamic C window If a breakpoint is encountered the IP value shown on the status bar reflects the saved context of IP from just before the breakpoint 162 Dynamic C User s Manual 12 7 2 Modifying Interrupt Vectors Prior to Dynamic C 7 30 interrupt vector code could be modified directly By reading the internal and external interrupt registers IR and EIR the location of the vector could be calculated and then written to because it was located in RAM This method will not work if separate I amp D space is enabled because the vectors must be located in flash To accommodate separate I amp D space the way interrupt vectors are set up and modified has changed slightly Please see the Rabbit 3000 Designer s Handbook for detailed information about how the interrupt vectors are set up This sec tion will discuss how to modify the interrupt vectors after they have been set up For backwards compatibility modifiable vector relays are provided in RAM In C they can be accessed through the SetVectIntern and SetVectExtern functions In assembl
224. is checked watch expressions will be enabled This is where you set the maximum number of watch expressions the debug kernel will support The debug ker nel uses a small amount of root RAM for evaluating each watch expression so reduc ing the number of watches will slightly reduce the amount of root RAM used With the watch expression box unchecked the debug kernel will be compiled without watch expressions support and the user will receive an error message if they attempt to add a watch expression With Dynamic C 9 watch expressions are enhanced to automatically include the addi tion of structure members when a watch expression is set on a struct Some extended memory is reserved for handling watch expressions on structs As shown in the above screen shot 512 bytes of xmem is reserved by default This can be changed to any thing in the range 32 to 4096 Be aware that this watch memory is a tradeoff not only does it dictate the number and complexity of watched structs but also impacts the amount of memory available for xalloc calls Enable stack tracing Dynamic C 9 introduces stack tracing If this box is checked the Stack Trace window is available to show the function call sequence leading to any point at which the pro gram is stopped The Stack Trace window shows a concise history of the execution path and values of local variables and function arguments that led to the current break point all for a very small cost in execution tim
225. is line if nx lt x1 nx gt xh within the function pong While the program is stopped highlight the section of the expression you want evaluated Use the watches fly over hint by hovering the cursor over the highlighted expression It will be evaluated and the result displayed You can see the values of e g nx or x1 or the result of the conditional expression nx lt x1 depending on what you highlight Chapter 6 Debugging with Dynamic C 75 6 1 5 Evaluate Expressions The evaluate expression functionality was separated out from watch expressions in Dynamic C 8 01 It is a special case of a watch expression evaluation in that the evaluation takes place once when the Evaluate button is clicked not every time the Watches window is updated Pros Like watches you can use the Evaluate Expression feature on any valid C expression Multiple Evaluate Expression dialogs can be opened si multaneously Cons Can alter program data adversely if the change being made is not thought out properly Uses This feature can be used to quickly and easily explore a variant of pro gram flow Example Say you have an application that is supposed to treat the 100th iteration of a loop as a special case but it does not You do not want to set a break point on the looping statement and hit F9 that many times so instead you force the loop variable to equal 99 using the evaluate expression di alog To do this compile the program without
226. is requires more than checking this option because hardware changes are necessary that in turn require a special BIOS and cold loader e Code and BIOS in Flash Run in RAM If you select this option the compiler will load the BIOS to flash when cold booting compile the user program to flash and then the BIOS will copy the flash image to the fast RAM attached to CS2 This option supports a CPU running at a high clock speed anything above 29 MHz This is the same as the command line compiler mfr option Max Shown This limits the number of error and warning messages displayed after compilation List Files Checking this option generates an assembly list file for each compile A list file con tains the assembly code generated from the source file The list file is placed in the same directory as your program with the name lt Program Name gt LST The list file has the same format as the Disassembled Code window Each C statement is followed by the generated assembly code Each line of assembly code is broken down into memory address opcode instruction and number of clock cycles See page 266 for a screen shot of the Disassembled Code window 254 Dynamic C User s Manual Separate Instruction and Data Space When checked this option enables separate I amp D space doubling the amount of root code and root data space available Please note that if you are compiling to a 128K RAM there is only about 12K avail able for
227. is selected and highlighted with the mouse The total assumes one 266 Dynamic C User s Manual execution per instruction so the user must take looping and branching into consideration when evaluating execution times Use the mouse to select several lines in the Assembly window and the total cycle time for the instructions that were selected will be displayed to the lower right of the selection If the total includes an asterisk that means an instruction with an indeterminate cycle time was selected suchas ldirorret nz Right click anywhere in the Disassembled Code window to display the following popup menu Copy Copies selected text in the Disas Copy ote bled Code wind the cli Save to File Ctrl S ae a 0de WINGOW TOMS Cup Move to Address Ctrl M para Move to Execution Point Ctrl E Save to File v Show Source Opens the Save As dialog to save v Show File Name in Source Line text selected in the Disassembled v Show Addresses Code window to a file If you do v Show Machine Code not specify an extension dasm v Show Clock Cycles will be appended to the file name Sign Clock Cycles Move to Address v Use Syntax Highlighting Opens the Disassemble at Address dialog so you can enter a new address Move to Execution Point Highlights the assembly instruction that will execute next and displays it in the Disassembled Code window All but the last menu option of the remaining items in the popup menu toggle w
228. isassembled Code window displays the result See Assembly F10 on page 266 for details about this window Dump at Address lt Cirl D gt Allows blocks of raw values in any memory location to be displayed Values are displayed on the screen or written to a file If separate I amp D space is enabled you can choose which logical space to examine instruction space or data space Dynamic C 9 introduced differences highlighting when displaying to the screen each time you single step in C or assembly changed data is highlighted in reverse video in the Memory Dump window This is also true for the Stack and Register windows 230 Dynamic C User s Manual When writing to a file the option Save to file requires a file pathname and the number of bytes to dump The option Save entire flash to file requires a file pathname If you are running in RAM then it will be RAM that is saved to a file not Flash because this option sim ply starts dumping physical memory at address zero When displaying on a screen a Mem ory Dump window is opened A typical screen display appears below Although Memory Dump Setup Memory Dump Dump Address ox0000 7 Save entire flash to file Number of bytes File name B OK Cancel Help the cursor is not visible in this screen capture it is hovering over logical memory location 0x0022 which has a value of OxFF This information is given in the fly over text and also
229. it the active window Watch Select Watch to activate or deactivate the Watches window The Add Watch command on the INSPECT menu will do this too The Watches window displays watch expressions whenever Dynamic C evaluates watch expressions Starting with Dynamic C 9 a watch expression for a structure will automatically include all members of the structure Previous versions of Dynamic C required each struct member to be added as a separate watch expression Watches ojx 2 aes inp tot O ss S rte struct tm bytes tm_sec char Ox0C toffset 0 tu min char y 0x29 toffset 1 tm_hour char n OxOA toffset 2 tu mday char xlF Ox1lF toffset 3 tm_mon char xOl 0x01 toffset 4 tm_year char P 0x50 toffset 5 tu wday char yx04 0x04 toffset 6 Chapter 15 Graphical User Interface 265 Stdio Select Stdio to activate or deactivate the Stdio window The Stdio window displays output from calls to printf Ifthe program calls printf Dynamic C will activate the Stdio window automatically if it is not already open unless Automatic open is unchecked in the Debug Windows dialog in Options Environment Options Starting with Dynamic C 9 the various Find commands available on the Edit menu can be used directly in the Stdio window Assembly F10 Select Assembly to activate or deactivate the Disassembled Code window The Disassembled Code window aka the Assembly window displays machin
230. ithout a leading 0x are treated as decimal A click of the right mouse button on the flags side of the window will bring up a menu that lets you toggle the selected flag Ctrl Alt T or switch to his tory view Ctrl Alt H 246 Dynamic C User s Manual Memory Dump Window For more information on using the Memory Dump window go to page 231 M Specific Preferences 3 M Fonts and Colors Debug Windows Foreground Color Black X Background Color LO White X c Execution Trace Font P Use fixed pitch Stack Trace Messanes z Courier New rq Apply Settings to All Options IV Apply changes to all IV Show address while scrolling e taa Dump Range IV Allow automatic updates JV Show current byte in hint C 64k J Show tool bar M Show current byte in title bar Full Range IV Enable difference highlighting I Use reversed font colors Customized Colors IV Bold foreground Foreground _ Black gt Use window background Background C white 7 D The following are the options relevant to the Memory Dump window Apply changes to all Changes made in this dialog will be applied to all memory dump windows Allow automatic updates The memory dump window will be updated every time program execution stops breakpoint single step etc Starting with Dynamic C 9 each time you single step changed data in the memory dump window is highlighted in rev
231. itive with Z WORLD products except as otherwise stated in a written agreement between Z World and the system manufacturer Such written agreement may require an end user to pay run time royalties to Z World Dynamic C User s Manual 319 2 License Z WORLD grants to You a nonexclusive nontransferable license to i use and repro duce the Software solely for internal purposes and only for the number of users for which You have purchased licenses for the Users and not for redistribution or resale ii use and repro duce the Software solely to develop the Qualified Applications and iii use reproduce and distribute the Qualified Applications in object code only to end users solely for use on Quali fied Systems provided however any agreement entered into between You and such end users with respect to a Qualified Application is no less protective of Z Worlds intellectual property rights than the terms and conditions of this License iv use and distribute with Qualified Applications and Qualified Systems the program files distributed with Dynamic C named RFU EXE PILOT BIN and COLDLOAD BIN in their unaltered forms 3 Restrictions Except as otherwise stated You may not nor permit anyone else to decompile reverse engineer disassemble or otherwise attempt to reconstruct or discover the source code of the Software alter merge modify translate adapt in any way prepare any derivative work based upon the Software rent leas
232. king to be programmed by the user Keywords like abort and wait for are available to control multitasking operation from within costatements Execution Tracing Execution tracing allows you to follow the flow of your program s execution in real time instead of single stepping through it The Trace window can show which statement was executed what type of action it was when it was executed and the contents of the registers after executing it You can also save the contents of the Trace window to a file 14 Dynamic C User s Manual 4 Language Dynamic C is based on the C language The programmer is expected to know programming meth odologies and the basic principles of the C language Dynamic C has its own set of libraries which include user callable functions Please see the Dynamic C Function Reference Manual for detailed descriptions of these API functions Dynamic C libraries are in source code allowing the creation of customized libraries Before starting on your application read through the rest of this chapter to review C language fea tures and understand the differences between standard C and Dynamic C 4 1 C Language Elements A Dynamic C program is a set of files consisting of one file with a c extension and the requested library files Each file is a stream of characters that compose statements in the C language The language has grammar and syntax that is rules for making statements Syntactic elements often ca
233. l SPsetHandler int SPsetHandler char address int handler void handler params DESCRIPTION This function sets up a handler function to process incoming commands from the mas ter for a particular slave port address PARAMETERS address The 8 bit slave port address of the channel that corresponds to the handler function handler Pointer to the handler function This function must have a particular form which is described by the function descrip tion for MyHandler shown below Setting this parame ter to NULL unloads the current handler handler params Pointer that will be saved and passed to the handler function each time it is called This allows the handler function to be parameterized for multiple cases RETURN VALUE 1 Success the handler was set 0 Failure LIBRARY SLAVE PORT LIB Chapter 8 The Slave Port Driver 99 MyHandler int MyHandler char command char data_in void params DESCRIPTION This function is a developer supplied function and can have any valid Dynamic C name Its purpose is to handle incoming commands from a master to one of the 256 channels on the slave port A handler function must be supplied for every channel that is being used on the slave port PARAMETERS command This is the received command byte data in The optional data byte params The optional parameters pointer RETURN VALUE This function must return an integer The low byte must contains the response code
234. l ity name is defined by a key in the current project file Compression Utility Zimport External Utility Zcompress exe To replace Zcompress exe as the utility used by Dynamic C for compression open your project file and edit the filename The compression utility must reside in the same directory as the Dynamic C compiler executable Dynamic C expects the program to behave as follows e Take as input a file name relative to the Dynamic C installation directory or a fully qualified path e Produce an output file of the same name as the input file with the extension DCZ at the end E g test txt becomes test txt dcz e Exit with zero on success non zero on failure If the utility does not meet these criteria or does not exist a compile time error will be generated 312 Dynamic C User s Manual C 3 Font and Bitmap Converter Utility The Font and Bitmap Converter converts Windows fonts and monochrome bitmaps to a library file format compatible with Z World s Dynamic C applications and graphical displays Non Roman characters may also be converted by applying the monochrome bitmap converter to their bitmaps Double click on the fmbcnvtr exe file in the Dynamic C directory Select and convert existing fonts or bitmaps Complete instructions are available by clicking on the Help button within the utility When complete the converted file is displayed in the editing window Editing may be done but probably won t be nece
235. l choice 35 Library Help lookup 271 USE_2NDFLASH_CODE SIMPIE sionen a 34 lt SCTRI N gt 136 with else 35 NEXt CTTOT poisist ieies 224 Writing to eeesceeescceeseese 135 information window 265 269 lt CTRL O gt XMEM ACCESS ou ee eeeeeeeeeee 131 ante OR 180 Poll Target eee 228 fOat cnc BSA 25 178 192 ninecodis nesae 255 lt CTRL P gt ValUES porennn ganenn 21 insertion point 222 223 Previous error 223 for LOOP 00 eee eee eee 32 179 Inspect menu eee 229 265 lt CTRL U gt frame Instruction Set Reference 273 Update Watch window 230 reference point 0 160 T within AE 25 181 192 lt CTRL V gt a a aii 158 159 NtEgErS oinaren 21 eae EESE 222 wee Interrupts oo eee 162 3 ike FUNCTION e e ie 24 breakpoints 228 Add Del Items 229 auto variables 171 keyword fot ISR 181 lt CTRL X gt calls 24 154 155 159 160 latency 162 cutting text oe 222 calls from assembly 161 unpreserved registers 168 lt CTRL Y gt Chains siipiin 36 185 sectors 163 182 Reset target 226 create chains ss ceiteiveen stant 199 Gap 162 300 lt CTRL Z gt entry and exit aTa 297 IX index register 57 158 159 SIOD ensinar 227 execution time eee 297 183 190 lt F10 gt headers sssi iiics 43 Assembly window 265 help re inatet 43 K lt F2 gt indirect call wee 30 Toggle Breakpoint 228 libraries sainesca cee 3 O KEY sesesessrsseseessse
236. l for conducting sensitive transactions The SSL protocol defines the methods by which a secure communications channel can be estab lished it does not indicate which cryptographic alogorithms to use SSL supports many different algorithms and serves as a framework whereby cryptography can be used in a convenient and dis tributed manner C 1 6 SNMP Module Simple Network Management Protocol Version 1 Based on RFCs 1155 1157 Traditionally SNMP was designed and used to gather statistics for network management and capacity planning For example the number of packets sent and received on each network interface could be obtained But because of its simplicity SNMP use has expanded into areas of interest to embedded systems It is now used for many vendor specific management functions e g showing a thermo stat temperature machine tool RPM or whether the front door was left open C 1 7 PPP Module Point to Point Protocol driver for serial and PPPoE PPP over Ethernet links This allows a serial or modem connection to use TCP IP Based on RFC2516 Method for transmitting PPP over Ethernet C 1 8 RabbitWeb Creating a web interface to your Rabbit based device just got a lot easier Dyanmic C 8 51 or later is required Complicated CGI programming is all but eliminated when using RabbitWeb And for all you creative folks out there you have complete freedom in the design of your dynamic web pages C 1 9 Rabbit Field Utility Module The Ra
237. larity of the routine If the routine executes every 25 milliseconds and the entire group of costatements executes in 5 to 10 milliseconds then the granularity is 30 to 35 milliseconds Therefore the delay between the occurrence of a waitfor event and the statement following the wait for can be as much as the granularity 30 to 35 ms The routine may also be interrupted by higher priority tasks or interrupt routines increasing the variation in delay The consequences of such variations in the time between steps depends on the program s objec tive Suppose that the typical delay between an event and the controller s response to the event is 62 Dynamic C User s Manual 25 ms but under unusual circumstances the delay may reach 50 ms An occasional slow response may have no consequences whatsoever If a delay is added between the steps of a process where the time scale is measured in seconds then the result may be a very slight reduction in throughput If there is a delay between sensing a defective product on a moving belt and activating the reject solenoid that pushes the object into the reject bin the delay could be serious If a critical delay cannot exceed 40 ms then a system will sometimes fail if its worst case delay is 50 ms 5 7 1 waitfor Accuracy Limits If an idle loop is used to implement a delay the processor continues to execute statements almost immediately within nanoseconds after the delay has expired In other wor
238. le LIBRARY MASTER SERIAL LIB MSgetError int MSgetError char address DESCRIPTION Gets bitfield with any current error from the specified serial port on the slave Error codes are SER_PARITY ERROR SER _OVERRUN_ERROR PARAMETERS address Slave channel address of serial handler RETURN VALUE Number of bytes free Success 1 Failure LIBRARY MASTER SERIAL LIB 108 Dynamic C User s Manual MSinit int MSinit int io bank DESCRIPTION Sets up the connection to the slave PARAMETERS io bank The IO bank and chip select pin number for the slave device This is a number from 0 to 7 inclusive RETURN VALUE 1 Success LIBRARY MASTER SERIAL LIB MSopen int MSopen char address unsigned long baud DESCRIPTION Opens a serial port on the slave given that there is a serial handler at the specified ad dress on the slave PARAMETERS address Slave channel address of serial handler baud Baud rate for the serial port on the slave RETURN VALUE 1 Baud rate used matches the argument 0 Different baud rate is being used 1 Slave port comm error occurred LIBRARY MASTER SERIAL LIB Chapter 8 The Slave Port Driver 109 MSputc int MSputc char address char ch DESCRIPTION Transmits a single character through the serial port PARAMETERS address Slave channel address of serial handler ch Character to send RETURN VALUE 1 Character sent 0 Transmit buffer is full or lock
239. le A 1 Macros Defined by the Compiler Macro Name Definition and Default This is the debug baud rate The baud rate can be changed in BIOSBAUD ae i ARRAREN the Communications tab of Project Options This is read from the System ID block or defaulted to 0x100 the BL1810 JackRabbit board if no System ID block is present This can be used for conditional compilation based on board type Board types are listed in boardtypes 1lib BOARD TYPE This macro identifies the CPU type e g R3000 is the Rabbit a 3000 microprocessor CC VER Gives the Dynamic C version in hex i e version 7 05 is 0x0705 DC_CRC_PTR Reserved The compiler substitutes this macro with the date that the file was compiled either the BIOS or the c file The character RTE string literal is of the form Mmm dd yyyy The days of the month are as follows Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec There is a space as the first character of dd if the value is less than 10 Go to the Compiler tab of Project Options and click on the Advanced button at the bottom of the dialog box Check DEBUG RST Include RST 28 instructions to set DEBUG_RST to 1 Debug code will be included even if nodebug precedes the main function in the program The compiler substitutes this macro with the current source FILE code file name as a character string literal Dynamic C U
240. le y into HL Lel ial Gye load hl with contents of y 12 4 4 1 Using the IX Register Access to stack based local variables is fairly inefficient The efficiency improves if IX is used as a frame pointer The arguments will have slightly different offsets because of the additional two bytes for the saved IX register value Now access to stack variables is easier Consider for example how to load ch into register A diel e AEE a lt ch The IX offset load instruction takes 9 clock cycles and opcode is three bytes If the program needs to load a four byte variable such as 1g the IX offset instructions are as follows ld hl ix 1g 2 load LSB of lg lil Is 1a longs are normally stored in BC DE iil epi ld hl ix lg load MSB of lg ex de hl This takes a total of 24 cycles The offset from IX is a signed 8 bit integer To use X offset the variable must be within 127 or 128 bytes of the frame reference point The SP method is the only method for accessing vari ables out of this range The SP symbol may be used even if IX is the frame reference pointer 158 Dynamic C User s Manual 12 4 4 2 Functions in Extended Memory If the xmem keyword is present Dynamic C compiles the function to extended memory Otherwise Dynamic C determines where to compile the function Functions compiled to extended memory have a 3 byte return address instead of a 2 byte return address
241. lect Select option n char start 32 strepy start Press any key when ready n prine Sellecic 5 pass pointer to string praimer starco pass string 4 7 1 String Concatenation Two or more string literals are concatenated when placed next to each other For example Rabbits like carrots becomes Rabbits like carrots during compilation If the strings are on multiple lines the macro continuation character must be used For example Rabbits don t like line dancing becomes Rabbits don t like line dancing during compilation 22 Dynamic C User s Manual 4 7 2 Character Constants Character constants have a slightly different meaning They are not strings A character constant is enclosed in single quotes and is a representation of an 8 bit integer value 1a n 1 x1B Any character can be represented by an alternate form whether in a character constant or ina string Thus nonprinting characters and characters that cannot be typed may be used A character can be written using its numeric value preceded by a backslash x41 the hex value 41 101 the octal value 101 a leading zero is optional B10000001 the binary value 10000001 There are also several special forms preceded by a backslash a bell b backspace formfeed n newline r carriage return t tab v vertical tab O null character backslash c the actual character c sin
242. les hold the default compilation environment that is shipped from the factory DEFAULT DCP may be modified but not PROJECT DCP See Chapter 17 for details on project files Chapter 4 Language 43 Dynamic C User s Manual 5 Multitasking with Dynamic C In a multitasking environment more than one task each representing a sequence of operations can appear to execute in parallel In reality a single processor can only execute one instruction at a time If an application has multiple tasks to perform multitasking software can usually take advantage of natural delays in each task to increase the overall performance of the system Each task can do some of its work while the other tasks are waiting for an event or for something to do In this way the tasks execute almost in parallel There are two types of multitasking available for developing applications in Dynamic C preemp tive and cooperative In a cooperative multitasking environment each well behaved task voluntar ily gives up control when it is waiting allowing other tasks to execute Dynamic C has language extensions costatements and cofunctions to support cooperative multitasking Preemptive multi tasking is supported by the slice statement which allows a computation to be divided into small slices of a few milliseconds each and by the uC OS II real time kernel 5 1 Cooperative Multitasking In the absence of a preemptive multitasking kernel or operating s
243. less tab to reveal 3 additional tabs RTI File Specify Parameters and Board Selection RTI File Click on this tab to open a Rabbit Target Information RTI file for viewing The file is read only You may not edit RTI files but you may create one by selecting an entry in the Board Selection list and clicking on the button Save as RTI Or you may define a board configuration in the Specify Parameters dialog and then save the information in an RTT file Details follow Specify Parameters This is where you may define the parameters of a controller for later use in targetless compilations Project Options 262 Dynamic C User s Manual The result may be saved to a RTI file for later use or the result may be saved to the list of board configurations Board Selection The list of board configurations is viewable from the Board Selection tab The high lighted entry in the list of board configurations is the one that will be used when the compilation uses a defined target configuration that is when the Default Compile Mode on the Compiler tab is set to Compile defined target configuration to bin file and Compile or Compile to bin file is chosen from the Compile menu If you save to the list of board configurations by clicking on the button Update Board Selection then you must fill in all fields of the dialog The baud rate calculated from the value in the Base Frequency MHz field only applies to debugging The faste
244. ll be created otherwise it will be overwritten None Go to Option Environment Options and select the Debug Windows tab Under Specific Preferences select Stdio and check Log to File under Options dccl_ cmp myProgram c o MyOutput txt dccl_ cmp myProgram c o MyOutput txt h dccl_ cmp myProgram c h o MyOutput txt oa OutputFilePathname Description Factory Default GUI Equivalent Example Append header information if specified with h and all program errors warnings and outputs to a text file If the text file does not exist it will be created otherwise it will be appended None Go to Option Environment Options and select the Debug Windows tab Under Specific Preferences select Stdio and check Log to File under Options then check Append and specify the filename dccl_ cmp myProgram c oa MyOutput txt pbf PilotBIOSFilePathname Description Compile using a pilot BIOS found in Pi lotBIOSFilePathname Factory Default Bios Pilot bin GUI Equivalent None Example decl_ cmp myProgram c pbf MyPath MyPilot bin 288 Dynamic C User s Manual pf projectFilePathname Description Specify a project file to read before the command line switches are read The environment settings are taken from the project file specified with pf or default dcp if no other project file is specified Any switches on the command line regardless of their position relativ
245. lled tokens form the basic elements of the C language Some of these elements are listed in the table below Table 4 1 Language Elements Syntactic Element Description punctuation Symbols used to mark beginnings and endings names Words used to name data and functions numbers Literal numeric values strings Literal character values enclosed in quotes directives Words that start with and control compilation keywords Words used as instructions to Dynamic C operators Symbols used to perform arithmetic operations Chapter 4 Language 15 4 2 Punctuation Tokens Punctuation serves as boundaries in C programs The table below lists the punctuation tokens Table 4 2 Punctuation Marks and Tokens Token Description Terminates a statement label i Terminates a simple statement or a do loop Separates items in a list such as an argument list declaration list initialization list or expression list Encloses argument or parameter lists Function calls always require parentheses Macros with parameters also require parentheses Also used for arithmetic and logical sub expressions Begins and ends a compound statement a function body a structure or union body or encloses a function chain segment Indicates that the rest of the line is a comment and is not compiled Comments are nested between the and tokens 16 Dynamic
246. log box asking if you want to reload the modified file so that Dynamic C is working with the most current ver sion The last checkbox if checked causes Dynamic C to query when an attempt is made to compile a library file to make sure that is what is desired You may choose zero or more of these alerts Chapter 15 Graphical User Interface 249 Project Options Settings used by Dynamic C to communicate with a target and to compile and run programs are accessible by using the Project Options dialog box The dialog box has tabs for various aspects of communicating with the target the BIOS and the compiler Communications Tab Project Options WENO AGOESS onUGIen Id ane Bantosan Connection Type Choose either a serial connection or a TCP IP connection 250 Dynamic C User s Manual Serial Options This is where you setup for serial communication The following options are available when the Use Serial Connection radio button is selected Debug Baud Rate This defaults to 115200 bps It is the baud rate used for target communica tions after the program has been downloaded Max Download Baud Rate When baud negotiation is enabled Dynamic C will start out at the selected baud rate and work downwards until it reaches one both it and the target can handle Disable Baud Negotiation Dynamic C negotiates a baud rate for program download This helps with USB or anyone who happens to have a high speed serial po
247. loophead notices that the first caller is not being called each time around the loop it cancels the request calls the abandonment code and allows the second caller in 60 Dynamic C User s Manual 5 5 8 Solving the Real Time Problem with Cofunctions FOEN costate task 1 wfd emergencystop for i 0 i lt MAX DEVICES i wid turnoffdevice i costate task 2 wfd x buttonpushed wid turnondevice x waitfor DelaySec 60L wid turnoffdevice x costare mas a taskn Cofunctions with their ability to receive arguments and return values provide more flexibility and specificity than our previous solutions Using cofunctions new machines can be added with only trivial code changes Making but tonpushed a cofunction allows more specificity because the value returned can indicate a particular button in an array of buttons Then that value can be passed as an argument to the cofunctions turnondevice and turnoffdevice 5 6 Patterns of Cooperative Multitasking Sometimes a task may be something that has a beginning and an end For example a cofunction to transmit a string of characters via the serial port begins when the cofunction is first called and continues during successive calls as control cycles around the big loop The end occurs after the last character has been sent and the wait fordone condition is satisified This type of a call to a cofunctions might look like this waitfordone
248. ls Shortening literal strings and reusing them will save root space The compiler automati cally reuses identical string literals These two statements printf This is a literal string sprintf buf This is a literal string will share the same literal string space whereas sprintf buf this is a literal string will use its own space since the string is different 300 Dynamic C User s Manual e Use xdata to declare large tables of initialized data If you have large tables of initialized data consider using the keyword xdata to declare them The disadvantage is that data cannot be accessed directly with pointers The function xmem2root allows xdata to be copied to a root buffer when needed This uses root code space const int root _tb1 8 300 301 302 103 304 305 306 307 This does not xdata xdata_table 300 301 302 103 304 305 306 307 main this only uses temporary stack space auto int table 8 xmem2root table xdata_table 16 now the xmem data can be accessed via a 16 bit pointer into the table Both methods const and xdata create initialized data in flash at compile time so the data cannot be rewritten directly e Use xstring to declare a table of strings The keyword xst ring declares a table of strings in extended flash memory The disad vantage is that the strings cannot be accessed directly with pointers since the table entries are 20 bit physical addresses
249. ly equate to values The following rules apply and are shown here with examples and equivalent define form Separate macros with semicolons dccl_cmp myProgram c d DEF1 DEF2 define DEF1 define DEF2 A defined macro may be equated to text by separating the defined macro from the text with an equal sign dccl_cmp myProgram c d DEF1 20 DEF2 define DEF1 20 define DEF2 Macro definitions enclosed in quotation marks will be interpreted as a sin gle command line parameter decl_cmp myProgram c d DEFl text with spaces DEF2 define DEF1 text with spaces define DEF2 A backslash preceding a character will be kept except for semicolon quote and backslash which keep only the character following the backslash An escaped semicolon will not be interpreted as a macro separator and an escaped quote will not be interpreted as the quote defining the end of a command line parameter of text dccl_cmp myProgram c d DEFl statement ESCQUOTE define DEF1 statement define ESCQUOTE dccl_cmp myProg c d FSTR Temp 6 2F DEGREES C n define FSTR Temp 6 2f degrees C n Factory Default None GUI Equivalent Select the Defines tab from Project Options Chapter 16 Command Line Interface 285 d MacroToUndefine Description Factory Default GUI Equivalent Example Undefines a macro that might have been defined in the project file If a macro is defined in the project file re
250. m files this value will be SSPEC_FSFILE sspec findnextfile Find the next named file in the flash file system at or following the specified index and return the index of the file sspec_ remove Remove the file name association sspec_ save Saves to the flash file system the array of structures that reference the named files in the flash file system sspec_ restore Restores the array of structures that reference the named files in the flash file system 144 Dynamic C User s Manual 11 6 Skeleton Program Using FS2 The following program uses some of the FS2 API It writes several strings into a file reads the file back and prints the contents to the Stdio window use FS2 LIB define TESTFILE 1 main File file Static char buffer 256 Ta noie Oye if fcreate amp file TESTFILE amp amp fopen wr amp file TESTFILE printf error opening TESTFILE d n errno return 1 fseek amp file 0 SEEK END fwrite amp file hello 6 fwrite amp file 12345 6 fwrite amp file 67890 6 fseek amp file 0 SEEK SET while fread amp file buffer 6 gt 0 print s n buffer fclose amp file For a more robust program more error checking should be included See the sample programs in the Samples FILESYSTEM folder for more complex examples including error checking for matting partitioning and other new features Cha
251. may be written e The compiler may perform type checking on the parameters to make sure that calls to the function receive arguments of the expected type A function prototype describes how to call the function and is nearly identical to the function s ini tial code This is a function prototype long ticle come claw Clock iel a This is the function s definition long cick count char olock ic Ji It is not necessary to provide parameter names in a prototype but the parameter type is required and all parameters must be included If the function accepts a variable number of arguments as printf does use an ellipsis This prototype is as good as the one above Ging iCl Co uiaie Claw p This is a prototype that uses ellipsis inte startup devicead 5 F 4 12 Type Definitions Both types and variables may be defined One virtue of high level languages such as C and Pascal is that abstract data types can be defined Once defined the data types can be used as easily as simple data types like int char and float Consider this example typedef int MILES abasic type named MILES typedef struct astructure type float re He eee float im ht a ae COMPLEX mamed COMPLEX MILES distance declare variable of type MILES COMPLEX z zZp declare variable of amp pointer to type COMPLEX Chapter 4 Language 25 Use typedef to create a meaningful name for a cl
252. me statements which execute under chain_y function body which executes when my_function is called A program will call a function chain as it would an ordinary void function that has no parameters The following example shows how to call a function chain that is named recover makechain recover recover l 36 Dynamic C User s Manual 4 20 Global Initialization Various hardware devices in a system need to be initialized not only by setting variables and con trol registers but often by complex initialization procedures Dynamic C provides a specific func tion chain GLOBAL INIT for this purpose Your program can add segments to the _GLOBAL_INIT function chain as shown in the example below Lome my tune Chaw J 5 main my func 100 long my func char j ioe aL 8 long array 256 The GLOBAL_INIT section is automatically run once when the program starts up GLOBAL_INIT POI ae s 0p 100 isr array mne return arrayljl only this code runs when the function is called The special directive GLOBAL INIT tells the compiler to add the code in the block enclosed in braces to the GLOBAL INIT function chain Any number of GLOBAL INIT sections may be used in your code The order in which they are called is indeterminate since it depends on the order in which they were compiled The GLOBAL INIT function chain is always called when your program starts up so there is
253. ment with descent into functions when the assembly window is open If nodebug is in effect execution continues until code compiled without the nodebug key word is encountered Source Step Over lt Alt F8 gt Executes one C statement without descending into functions when the assembly window is open Chapter 15 Graphical User Interface 227 Toggle Breakpoint lt F2 gt Toggles a regular soft breakpoint at the current cursor location Soft breakpoints do not affect the interrupt state at the time the breakpoint is encountered whereas hard breakpoints do Starting with Dynamic C 9 breakpoints can be toggled in edit mode as well as in debug mode Breakpoint information is not only retained when going back and forth from edit mode to debug mode it is stored when a file is closed and restored when the file is reopened Toggle Hard Breakpoint lt Alt F2 gt Toggles a hard breakpoint at the current cursor location A hard breakpoint differs from a soft breakpoint in that interrupts are disabled when the hard breakpoint is reached Starting with Dynamic C 9 breakpoints can be toggled in edit mode as well as in debug mode Breakpoint information is not only retained when going back and forth from edit mode to debug mode it is stored when a file is closed and restored when the file is reopened Clear All Breakpoints lt Ctrl A gt Self explanatory Poll Target lt Ctrl L gt This menu option used to be named Toggle Polling
254. minimize the occurrence of bugs and gives you some strategies for find ing and eliminating them when they do occur 6 3 1 Good Programming Practices There is a big difference between buggy code and code that runs with near flawless precision The latter program may have a bug but it may be a relatively minor problem that only appears under abnormal circumstances This touches on the subject of testing which are the actions taken specifically to find bugs a larger discussion that is beyond the scope of this chapter This section discusses some time tested methods that may improve your ability to write software with fewer bugs e The Design The design is the solution to the problem that a program or function is sup posed to solve At a high level the design is independent of the language that will be used in the implementation Many questions must be asked and answered What are the require ments the boundaries the special cases These things are all captured in a well thought out design document The design written down not just an idea floating in your head should be rigorous complete and detailed There should be agreement and sign off on the design before any coding takes place The design underlies the code it must come first This is also the first part of creating full documentation e Documentation Other documentation includes code comments and function description headers which are specially formatted comments Functio
255. mptions that do not apply to embedded systems For example standard C implicitly assumes that an operating system is present and that a program starts with a clean slate whereas embedded systems may have battery backed memory and may retain data through power cycles Z World has extended the C language in a number of areas 2 2 1 Dynamic C Enhancements Many enhancements have been added to Dynamic C Some of these are listed below Function chaining a concept unique to Dynamic C allows special segments of code to be embedded within one or more functions When a named function chain executes all the seg ments belonging to that chain execute Function chains allow software to perform initializa tion data recovery or other kinds of tasks on request Costatements allow concurrent parallel processes to be simulated in a single program Cofunctions allow cooperative processes to be simulated in a single program Slice statements allow preemptive processes in a single program Dynamic C supports embedded assembly code and stand alone assembly code Dynamic C has shared and protected keywords that help protect data shared between different contexts or stored in battery backed memory Dynamic C has a set of features that allow the programmer to make fullest use of extended memory Dynamic C supports the 1 MB address space of the microprocessor The address space is segmented by a memory management unit MMU Normally Dynamic C takes care
256. n Default RFU GUI Equivalent Example Vp Description Default RFU GUI Equivalent Example vp Description Default RFU GUI Equivalent Example fi Flash ini PathName Select a new file that Dynamic C will use to externally define flash flash ini From the Choose File Locations dialog box visible by selecting the menu option Setup File Locations type in a pathname or click on the ellipses radio button to browse for a file c1IRFU myProgram bin fi myflash ini Verify the presence of the processor by using the DSR line of the PC serial connection The processor is verified From the Communications Options dialog box visible by selecting Setup Communications check the Enable Processor Detection option c1IRFU myProgram bin vp Do not verify the presence of the processor The processor is verified From the Communications Options dialog box visible by selecting Setup Communications uncheck the Enable Processor Detection option c1RFU myProgram bin vp Dynamic C User s Manual 315 usb Description Default RFU GUI Equivalent Example usb Description Default RFU GUI Equivalent Example Enable use of USB to serial converter The use of the USB to serial converter is disabled From the Communications Options dialog box visible by selecting Setup Communications check the Use USB
257. n description headers allow functions from libraries listed in 1ib dir to be displayed in the Function Lookup option in Dynamic C s Help menu or by using the keyboard shortcut Ctrl H See Section 4 24 for details on creating function description headers for user defined library functions Another way to comment code is by making the code self documenting Always choose descriptive names for functions variables and macros The brain only has so much memory capacity why waste it up by requiring yourself to remember that cwl is the function to call when you want to check the water level in your fish tank chk_h20_level for example makes it easier to remember the function s purpose Of course you get very familiar with code while it is in development and so your brain transforms the letters cwl quite easily to the words check water level But years later when some esoteric bug appears and you have to dig into old code you might be glad you took the time to type out some longer function names e Modular Code If you have a function that checks the water level in the fish tank don t have the same function check the temperature Keep functions focused and as simple as possible i For an account of what can happen when time and money constraints all but disappear read They Write the Right Stuff by Charles Fishman Chapter 6 Debugging with Dynamic C 87 e Coding Standards The use of coding standards increases main
258. n programs will have some flavor of this simple structure main E ILF while 1 endless loop for multitasking framework costate task 1 body of costatement costate task 2 body of costatement 46 Dynamic C User s Manual 5 2 A Real Time Problem The following sequence of events is common in real time programming Start Wait for a pushbutton to be pressed Turn on the first device Wait 60 seconds Turn on the second device Wait 60 seconds Turn off both devices Go back to the start a AU FW NY The most rudimentary way to perform this function is to idle busy wait in a tight loop at each of the steps where waiting is specified But most of the computer time will used waiting for the task leaving no execution time for other tasks 5 2 1 Solving the Real Time Problem with a State Machine Here is what a state machine solution might look like tasklstate 1 initialization while 1 switch tasklstate Gase is if buttonpushed tasklstate 2 turnondevicel camer iE iealime time incremented every second break case 2 if time timerl gt 60L tasklstate 3 turnondevice2 timer2 time break case 3 if time timer2 gt 60L tasklstate 1 turnoffdevicel turnoffdevice2 break other tasks or state machines Chapter 5 Multitasking with Dynamic C 47 If there are othe
259. n this button to reveal the Advanced Compiler Options dialog The options are Default Project Source File Use this option to set a default source file for your project If this box is checked then when you compile the source file named here will be used and not the file that is in the active editor window If the file named here is not open it will be opened into a new editor window which will be the new active editor window Chapter 15 Graphical User Interface 255 User Defined BIOS File Use this option to change from the default BIOS to a user specified file Enter or select the file using the browse button text box underneath this option The check box labeled use must be selected or else the default file BIOS defined in the system registry will be used Note that a single BIOS file can be made for compiling both to RAM and flash by using the preprocessor macros _FLASH_or _RAM_ These two macros are defined by the compiler based on the currently selected radio button in the BIOS Memory Setting group box User Defined Lib Directory File The Library Lookup information retrieved with lt Ctrl H gt is parsed from the libraries found in the 1ib dir file which is part of the Dynamic C installa tion Checking the Use box for User Defined Libraries File allows the parsing of a user defined replacement for 1ib dir when Dynamic C starts Library files must be listed in lib dir or its replacement to be available to a pro gram I
260. named factory dcp If Dynamic C cannot find this file it will be recreated automatically in the Dynamic C exe path The factory project can be opened at any time and the environment changed and saved to another project name but factory dcp will not be changed by Dynamic C 17 1 2 Default dcp This default project file is originally a copy of factory dcp and will be automatically recre ated as such in the exe path if it cannot be found when Dynamic C opens The default project will automatically become the active project with File Project Close The default project is special in that the command line compiler will use it for default values unless another project file is specified with the pf switch in which case the settings from the indi cated project will be used Please see chapter 16 Command Line Interface starting on page 275 for more details on using the command line compiler 17 1 3 Active Project Whenever a project is selected the current project related data is saved to the closing project file the new project settings become active and the possibly new BIOS will automatically be recom piled prior to compiling a source file in the new environment The active project can be factory dcp default dcp or any project you create with File Project Save As When Dynamic C opens it retrieves the last used project or the default project if being opened for the first time or if the last used project cannot
261. ndef READ ABS define READ ABS 27 18 Dynamic C User s Manual 4 5 Macros Macros may be defined in Dynamic C by using define A macro is a name replacement fea ture Dynamic C has a text preprocessor that expands macros before the program text is compiled The programmer assigns a name up to 31 characters to a fragment of text Dynamic C then replaces the macro name with the text fragment wherever the name appears in the program In this example define OFFSET 12 define SCALE 72 ime aL Rep 1 se SCALE OE SEL the variable i gets the valuex 72 12 Macros can have parameters such as in the follow ing example define word a b a lt lt 8 b char c int i j i Worrell 3 s sameas i j lt lt 8 lc The compiler removes the surrounding white space comments tabs and spaces and collapses each sequence of white space in the macro definition into one space It places a before any or to preserve their original meaning within the definition 4 5 1 Macro Operators and Dynamic C implements the and macro operators The operator forces the compiler to interpret the parameter immediately following it as a string literal For example if a macro is defined define report value fmt printf value fmt n value then the macro in report string s will expand to printf string s n string and because C always concatenates adjacent strings
262. ned long TICK TIMER else if TICK TIMER pfb gt content ul gt ticks return 1 return 0 float Declares variables function return values or arrays as 32 bit IEEE floating point int func float x y p float PI 3 14159265 float func float par 178 Dynamic C User s Manual for Indicates the beginning of a for loop A for loop has an initializing expression a limiting expression and a stepping expression Each expression can be empty for an endless loop for i 0 i lt n i counting loop goto Causes a program to go to a labeled section of code if condition goto RED RED Use goto to jump forward or backward in a program Never use goto to jump into a loop body or a Switch case The results are unpredictable However it is possible to jump out of a loop body or switch case Chapter 13 Keywords 179 Indicates the beginning of an if statement if tank_full shut_off _water if expression statements else if expression statements else if expression statements else if expression statements selse statements If one of the expressions is true they are evaluated in order the statements controlled by that expression are executed An if statement can have zero or more else if parts The else is optional and executes only when none of the if orelse if expressions are true non zero init on The
263. neers is a rich source of information Look in lea Samples z c dmtarget Gps dmunit l2c ceovscenseteTvcaseceaseeltoteccoseccned EIDOWN_LOAD Elcom ErrorHandling cy Intrupts Fft ackrab FileSystem LCD_Keypad Fieneme Files of type E Source c x Cancel Figure 1 Screenshot of Samples folder The subfolders contain sample programs that illustrate the use of the various Dynamic C librar ies E g the subfolders Cofunc and Costate have sample programs illustrating the use of COFUNC LIB and COSTATE LIB libraries that support cooperative multitasking using Dynamic C language extensions Besides its subfolders the Samples folder also contains some sample programs to demonstrate various aspects of Dynamic C E g the sample program Pong c demonstrates output to the Stdio window In the rest of this chapter we examine four sample programs in some detail Chapter 3 Quick Tutorial 7 3 1 Run DEMO1 C This sample program will be used to illustrate some of the functions of Dynamic C Open the file Samples DEMO1 C using the File menu or the keyboard shortcut lt Ctrl O gt The program will appear in a window as shown in Figure 1 below minus some comments Use the mouse to place the cursor on the function name printf in the program and press lt Ctrl H gt This brings up a Function Description window for printf You can do this with all functions in the Dynamic C libraries including libra
264. ng depth value telling you how many bytes have been pushed on the stack in the current program instance or since the depth value reset button was clicked The Stack Trace window only tracks stack based variables i e auto variables The storage class for local variables can be either auto or static specified through a modifier when the variable is declared or globally via the class direc tive Whatever the means if a local variable is marked static it will not appear in the Stack Trace window Pros Provides a concise history of the call sequence and values of local vari ables and function arguments that led to the current breakpoint all for a very small cost in execution time and BIOS memory Cons Currently the Stack Trace window can not trace the parameters and lo cal variables in cofunctions Also the contents of the window can not be saved after a program crash Uses Use stack tracing to capture the call sequence leading to a breakpoint and to see the values of functions arguments and local variables Example Say you have a function that is behaving badly You can set a breakpoint in the function and use the Stack Trace window to examine the function call sequence Examining the call sequence and the parameters being passed might give enough information to solve the problem The following screenshot shows an instance of gsort demo c and the Stack Trace window Note that the call to memcpy is not represented on the stack The
265. ng ENABLE ERROR_LOGGING to 1 in the BIOS See Chap ter 9 for more information Watchdogs Ten virtual watchdogs are provided in addition to the hardware watchdog s of the processor Watchdogs whether hardware or software limit the amount of time a system is in an unknown state Virtual watchdogs are maintained by the Virtual Driver and described in Section 7 4 2 The sample program Samples VDRIVER VIRT_WD C demonstrates the use of a virtual watchdog Compiler Options The Compiler tab of the Project Options dialog contains several options that assist debugging They are summarized here and fully documented starting on page 252 e List Files When enabled this option generates an assembly list file for each compile The list file contains the same information and is in the same format as the contents of the Assembly window List files can be very large Run Time Checking Run time checking of array indices and pointers are enabled by default e Type Checking Compile time checking of type options are enabled by default There are three type checking options labeled as Prototype Demotion and Pointer Checking prototypes means that arguments passed in function calls are checked against the function prototype Demotion checking means that the auto matic conversion of a type to a smaller or less complex type is noted Pointer checking refers to making sure pointers of different types being intermixed are cast properly See the se
266. ng on the instance selected so like arrays the programmer is responsible for keeping this value in the proper range 5 5 5 2 1 Indexed Cofunction Restrictions Costatements are not supported inside indexed cofunctions Single user cofunctions can not be indexed 5 5 5 3 Single User Cofunction Since cofunctions are executing in parallel the same cofunction normally cannot be called at the same time from two places in the same big loop For example the following statement containing two simple cofunctions will generally cause a fatal error waitfordone cofunc_nameA cofunc_nameA This is because the same cofunction is being called from the second location after it has already started but not completed execution for the call from the first location The cofunction is a state machine and it has an internal statement pointer that cannot point to two statements at the same time 58 Dynamic C User s Manual Single user cofunctions can be used instead They can be called simultaneously because the sec ond and additional callers are made to wait until the first call completes The following statement which contains two single user cofunctions is okay waitfordone scofunc_nameA scofunc_nameA loopinit This function should be called in the beginning of a program that uses single user cofunctions It initializes internal data structures that are used by loophead loophead This function should be called within
267. ng your program Precompiled functions will be compiled and downloaded with the BIOS instead of each time you compile and download your program The following limitations exist e Precompile functions must be defined nodebug e Any functions to be precompiled must be in a library and that library must be included either in the BIOS using a use or recursively included by those libraries e Internal BIOS functions will precompile but will not result in any improvement e Libraries that require the user to define parameters before being used can only be precompiled if those parameters are defined before the precompile statement An example of this is included in precompile 1lib e Function chains and functions using segment chains cannot be precompiled Precompiled functions will be placed in extended memory unless specifically marked root e All dependencies must be resolved Macros variables other functions etc before a function can be precompiled This may require precompiling other functions first See precompile 1ib for more information and examples Chapter 13 Keywords 201 undef Syntax undef identifier Removes undefines a defined macro use Syntax use pathname Activates a library named in 1ib dir so modules in the library can be linked with the applica tion program This directive immediately reads in all the headers in the library unless they have already been read useix nouseix Contr
268. nothing special to do to invoke it In addition it may be called explicitly at any time in an applica tion program with the statement _GLOBAL_INIT Make this call this with caution All costatements and cofunctions will be initialized See Calling _GLOBAL_INIT on page 91 for more information Chapter 4 Language 37 4 21 Libraries Dynamic C includes many libraries files of useful functions in source code form They are located in the LIB subdirectory where Dynamic C was installed The default library file extension is LIB Dynamic C uses functions and data from library files and compiles them with an applica tion program that is then downloaded to a controller or saved to a bin file An application program the default file extension is c consists of a source code file that con tains a main function called main and usually other user defined functions Any additional source files are considered to be libraries though they may have a c extension and are treated as such The minimum application program is one source file containing only main Libraries both user defined and Z World defined are linked with the application through the use directive The use directive identifies a file from which functions and data may be extracted Files identified by use directives are nestable as shown below The use directive is a replacement for the include directive which is not supported in Dynamic C
269. nt n times Swim OF Eorl i 0 i lt mp irt Ji sum sum array Ee This loop initially sets i to 0 continues as long as i is less than n stops when i equals n and increments i at each pass Another use for the for loop is the infinite loop which is useful in control systems for some statement s 32 Dynamic C User s Manual Here there is no initial condition no end condition and no stepping expression The loop body some statement s continues to execute endlessly An endless loop can also be achieved with a while loop This method is slightly less efficient than the for loop while 1 some statement s 4 18 2 Continue and Break Two keywords are available to help in the construction of loops continue and break The continue statement causes the program control to skip unconditionally to the next pass of the loop In the example below if bad is true more statements will not execute control will pass back to the top of the while loop get _ Cher s while EOF some statements if bad continue more statements The break statement causes the program control to jump unconditionally out of a loop In the example below if cond_RED is true more statements will not be executed and control will pass to the next statement after the ending curly brace of the for loop for i 0pismgpiti i some statements if cond RED break more statements The break keyword also applies to the s
270. nt x int y coord coord p pisa pointer to structure m p gt X reference to structure element 14 8 Reference Dereference Operators Address operator or bitwise AND As a unary operator this provides the address of a variable int x Z amp X z gets the address of x As a binary operator this performs the bitwise AND of two integer char int or long val ues int i OxFFFO int j Ox0OFFF z i amp kj z gets OxOFFO 214 Dynamic C User s Manual Indirection or multiplication As a unary operator it indicates indirection When used in a declara tion indicates that the following item is a pointer When used as an indirection operator in an expression provides the value at the address specified by a pointer int p pis a pointer to an integer int j 45 p amp j pnow points toj k p k gets the value to which p points namely 45 p 25 The integer to which p points gets 25 Same as j 25 since p points to j Beware of using uninitialized pointers Also the indirection operator can be used in complex ways int list 10 array of 10 ptrs to int int list 10 ptr to array of 10 ints float y ptr to a ptr to a float Zz y z gets the value of y typedef char stp stp my_ stuff my_stuff is typed char As a binary operator the indicates multiplication a b c a gets the product of b and c 14 9 Conditional Operators
271. nual waitfor Used in a costatement this keyword identifies a point of suspension pending the outcome of a condition completion of an event or some other delay Por ee costate waitfor input 1 HIGH waitfordone wfd The wait fordone keyword can be abbreviated as wfd It is part of Dynamic C s cooperative multitasking constructs Used inside a costatement or a cofunction it executes cofunctions and firsttime functions When all the cofunctions and firsttime functions in the wfd state ment are complete or one of them aborts execution proceeds to the statement following wfd Otherwise a jump is made to the ending brace of the costatement or cofunction where the w d statement appears when the execution thread comes around again control is given back to the wfd statement The wfd statements below are from Samples cofunc cofterm c x wfd login wfd with one cofunction wfd wfd with several cofunctions clrscr putat 5 5 name putat 5 6 password echoon wfd may return a value In the example above the variable x is set to 1 if Login completes execution normally and set to 1 if it aborts This scheme is extended when there are multiple cofunctions inside the wf d if no abort has taken place in any cofunction wfd returns 1 2 n to indicate which cofunction inside the braces finished executing last If an abort takes place wid returns 1 2 n to indicate which cofunction
272. o a bin file This is an advanced compiler option accessible by clicking the Advanced button on the Compiler tab in Project Options _TARGETLESS COMPILE Boolean value It defaults to 0 Set it by selecting Compile defined target configuration to bin file under Default Compile Mode in the Compiler tab of Project Options __TIME _ The compiler substitutes this macro with the time that the file BIOS or c was compiled The character string literal is of the form hh mm ss 304 Dynamic C User s Manual A 2 Global Variables These variables may be read by any Dynamic C application program dc_timestamp This internally defined long is the number of seconds that have passed since 00 00 00 January 1 1980 Greenwich Mean Time GMT adjusted by the current time zone and daylight savings of the PC on which the program was compiled The recorded time indicates when the program finished compiling printf The date and time lx n dc timestamp OPMODE This is a char It can have the following values e 0x88 debug mode e 0x80 run mode SEC_TIMER This unsigned long variable is initialized to the value of the real time clock RTC If the RTC is set correctly this is the number of seconds that have elapsed since the reference date of January 1 1980 The periodic interrupt updates SEC_TIMER every second This variable is initialized by the Virtual Driver when a program starts M
273. o a connected target DEMO1 brk debugger breakpoint information e demol hdl no longer used e demol hex simple Intel HEX format output image file the serial DLM samples download a DLP s HEX file and load the image to flash e DEMO1 map the application s code data map file RabbitBios map is also gen erated separately For more information on the map file see Appendix B Map File Generation DEMO1 rom ROM output file containing redundant addresses due to fixups it s used to generate the BDL BIN HEX and HDL files Reset Target Compile BIOS lt Ctrl Y gt This option reloads the BIOS to RAM or flash depending on the choice made under BIOS Memory Setting in the Compiler dialog viewable from Options Project Options The following message will appear upon successful compilation and loading of BIOS code BIOS Successfully Compiled Ready to Compile User Programs 226 Dynamic C User s Manual 15 2 4 Run Menu Click the menu title or press lt Alt R gt to select the RUN menu Run Inspect Options Wndow Help gt Run A Run No Polling Step into oO Step Over Source Irace Into OY Source Step Over 5 Togge Breekpoint HE Togge Hard Breakpoint Cleat All Breakpoirts Pull Taryel Reset Program dli Close Connection F9 Alt F9 re F8 Alt AIE FS F2 Alt F2 Ctrl 4 Cult Ctrl F2 Run lt F9 gt Starts program execution from the current breakp
274. o other applications If using a TCP IP connection closes the socket between the PC and the RabbitLink 228 Dynamic C User s Manual 15 2 5 Inspect Menu Click the menu title or press lt Alt I gt to open the INSPECT menu liag Options Window Help The INSPECT menu provides commands to manipulate Qh Add Watch Ctrlew watch expressions view disassembled code and produce Q Delete Watch hexadecimal memory dumps The INSPECT menu com AX Delete All Watches mands and their functions are described here Q Update Watch Window Ctrl U Er Evaluate Expression Add Watch lt Cirl W gt This command displays the Add Watch Expression dia In f sags s Disassemble at Cursor Ctl F10 log Enter watch expressions with this dialog box im Disassemble at Address Alt F10 A watch expression may be any valid C expression E Dump At Address Ctrl D including assignments function calls and preprocessor E Stop iiracmna alesleal macros Do not include a semicolon at the end of the F Start Tracing Shift Ctrl T expression If the watch expression is successfully com A Chee piled it and its outcome will appear in the Watches win dow If the cursor in the active win Add Watch Expression x dow is positioned over a vari able or function name that Watch Expression fi X name will appear in the Watch Expression text box when the ai Ew Add Watch Expression dialog box appears Clicking the Add but
275. o the BIOS meaning there is less memory available on the target for your program so if you get insufficient memory errors with your program disabling tracing might help Also when you turn on tracing from the menu or a macro your program will suffer a per formance hit because of the extra communication required between Dynamic C and the target Trace Buffer PC The trace buffer allows you to specify how much memory is allocated on your computer the default is 64 megabytes to hold trace entries received from the target If you check the Wrap box new trace entries overwrite existing ones when the buffer fills up starting with the oldest When Wrap is unchecked any entries received after the buffer fills up are discarded The number of Entries displayed here is the maximum number of trace entries the buffer will hold given the size of the trace buffer you specify and the Trace window information fields you select Trace Window Information Fields You can select the trace information captured from the target and displayed in the Trace window You can include the function name file name and line and column where each trace entry originated the type of action being performed the time stamp when the action was performed and the contents of the regis ters The more fields you select to be displayed in the Trace window the larger each entry and so the fewer entries the trace buffer can hold Trace Level Choose which events will
276. of a battery on a Z World board is specified in the user s manual for that board some boards have batteries that last several years most board have batteries that come close to or surpass the shelf life of the battery If it is important that battery backed data not be lost during a battery failure know how long your battery will last and plan accord ingly 298 Dynamic C User s Manual 18 2 1 User Block The User block is an area near the top of flash reserved for run time storage of persistent data and calibration constants The size of the User block can be read in the global structure member SysIDBlock userBlockSize The functions readUserBlock and writeUserBlock are used to access the User block These function take an offset into the block as a parameter The highest offset available to the user in the User block will be SysIDBlock userBlockSize 1 if there are no calibration constants or DAC_CALIB ADDR 1 if there are See the Rabbit designer s handbook for more details about the User block 18 2 2 Flash File System For a complete discussion of the file system please see The Flash File System on page 135 18 2 3 WriteFlash2 See the Dynamic C Function Reference Manual for a complete description NOTE There is a WriteFlash function available for writing to the first flash but its use is highly discouraged for reasons of forward source and binary compatibility should flash sector configuration change dra
277. of memory management but there are instances where the programmer will want to take con trol of it Dynamic C has keywords and directives to help put code and data in the proper place The keyword root selects root memory addresses within the 64 KB physical address space The keyword xmem selects extended memory which means anywhere in the 1024 KB or 1 MB code space root and xmem are semantically meaningful in function prototypes and more effi cient code is generated when they are used Their use must match between the prototype and the function definition The directive memmap allows further control See Memory Manage ment on page 131 for further details on memory Dynamic C User s Manual 2 2 2 Dynamic C Differences The main differences in Dynamic C are summarized here and discussed in detail in chapters Lan guage on page 15 and Keywords on page 169 If a variable is explicitly initialized in a declaration e g int x 0 itis stored in flash memory EEPROM and cannot be changed by an assignment statement Such a declaration will generate a warning that may be suppressed using the const keyword const int x 0 To initialize static variables in Static RAM SRAM use GLOBAL INIT sections Note that other C compilers will automatically initialize all static variables to zero that are not explicitly initialized before entering the main function Dynamic C programs do not do this because in an embedded system yo
278. off Currently the maximum size file system supported in RAM is about 200k This limitation holds true even on boards with a 512k RAM chip The limitation involves the placement of BIOS con trol blocks in the upper part of the lower 256k portion of RAM To obtain more RAM memory xalloc may be used If xalloc is called first thing in the program the same memory addresses will always be returned This can be used to store non vola tile data is so desired if the RAM is battery backed however it is not possible to manage this area using the file system Using FS2 increases flexibility with its capacity to use multiple device types simultaneously Since RAM is usually a scarce resource it can be used together with flash memory devices to obtain the best balance of speed performance and capacity 11 1 4 Wear Leveling The current code has a rudimentary form of wear leveling When you write into an existing block it selects a free block with the least number of writes The file system routines copy the old block into the new block adding in the users new data This has the effect of evening the wear if there is a reasonable turnover in the flash files 11 1 5 Low Level Implementation For information on the low level implementation of the flash file system refer to the beginning of the library file FS2 LIB 11 1 6 Multitasking and the File System The file system is not re entrant If using preemptive multitasking ensure that onl
279. oint Regis ters are restored including interrupt status before execution begins If in Edit mode the program is compiled and down loaded Stop lt Ctrl Q gt The Stop command stops the program at the current point of execution Usually the debugger cannot stop within nodebug code On the other hand the target can be stopped at an RST 028h instruction if an RST 028h assembly code is inserted as inline assembly code in nodebug code However the debugger will never be able to find and place the execution cursor in nodebug code Run w No Polling lt Alt F9 gt This command is identical to the Run command with one exception The PC polls the target every 3 seconds by default to determine if the target has crashed When debugging via RabbitLink polling is used to make the RabbitLink keep its connection to the PC open Polling does have some overhead but it is very minimal If debugging ISRs it may be helpful to disable polling Step Into lt F7 gt Executes one C statement or one assembly language instruction if the assembly window is displayed with descent into functions If nodebug is in effect and the Assembly window is closed execution continues until code compiled without the nodebug keyword is encoun tered Step Over lt F8 gt Executes one C statement or one assembly language instruction if the assembly window is displayed without descending into functions Source Step Into lt Alt F7 gt Executes one C state
280. ols whether functions use the IX register as a stack frame reference pointer or the SP stack pointer register nouseix is the default Note that when the IX register is used as a stack frame reference pointer it is corrupted when any stack variable using function is called from within a cofunction or if a stack variable using func tion contains a call to a cofunction warns Syntax warns Instructs the compiler to act as if a serious warning was issued The string in quotes following the directive is the message to be printed warnt Syntax warnt Instructs the compiler to act as if a trivial warning was issued The string in quotes following the directive is the message to be printed 202 Dynamic C User s Manual ximport Syntax ximport filename symbol This compiler directive places the length of filename stored as a long and its binary contents at the next available place in xmem flash filename is assumed to be either relative to the Dynamic C installation directory or a fully qualified path symbol is a compiler generated macro that gives the physical address where the length and contents were stored The sample program ximport c illustrates the use of this compiler directive zimport Syntax zimport filename symbol This compiler directive extends the functionality of ximport to include file compression by an external utility filename is the input file and must be r
281. ompile menu option a Reset Target Compile BIOS Ctrl V F7 F8 Alt F7 and Alt F8 are the keyboard shortcuts for stepping through code Use F7 if you want to step at the C statement level but want to step into calls to debuggable functions Use F8 instead if you want to step over function calls If the Assembly window is open the stepping will be done by assembly instruction instead of by C statement if the feature Enable instruction level single stepping is checked on the Debugger tab of the Project Op tions dialog otherwise stepping is done by C statement regardless of the status of the Assembly window If you have checked Enable in struction level single stepping but wish to continue to step by C state ment when the Assembly window is open use Alt F7 or Alt F8 instead of F7 or F8 74 Dynamic C User s Manual 6 1 4 Watch Expressions Like many other debugging features watch expressions have been around since the beginning and have improved over time Dynamic C 8 01 introduced the ability to evaluate watchable expres sions using flyover hints The highlighted expression does not need to be set as a watch expres sion for evaluation in a flyover hint Dynamic C 9 introduced a new way of handling structures as watch expressions Previously when you set a watch on a struct its members had to be added sep arately and deliberately Now they are set as watch expressions automatically wi
282. on Allow automatic updates The Memory Dump window can be updated at any time by clicking the Update button on the tool bar or by right clicking and choosing Update from the popup menu Chapter 15 Graphical User Interface 231 The Memory Dump window is capable of displaying three different types of dumps A dump of a logical address Ox mmmm will result in a 64k scrollable region 0x0000 Oxffff A dump of a physical address Ox mmmmm will result in a dump of a 1M region Ox00000 Oxfffff A dump of an xpc offset address nn mmmm will result in either a 4k 64k or 1M dump range depending on the option set on the Debug Windows tab under Options Environ ment Options Note that adding a leading zero to a logical address makes it a physical address Any number of dump windows may be open at the same time The type of dump or dump region for a dump window can be changed by entering a new address in the toolbar s text entry area To the right of the this area is a button that when clicked will cause the address in the text entry area to be the first address in the Dump window The toolbar for a dump window may be hidden or visible Stop Tracing lt Ctrl Alt T gt This command causes the target to stop sending trace information to Dynamic C You can also do this from within your program with the TRACEOFF macro The sample program Samples Demo4 c describes and uses this trace macro Start Tracing lt Shift Ctrl T gt Thi
283. on for shadow registers is to append the word Shadow to the name of the register For example the global control status register GCSR has a corresponding shadow register named GCSRShadow 228 229 234 235 236 237 238 239 240 241 243 244 245 246 247 249 250 251 252 The purpose of the shadow registers is to allow the program to reference the last value pro grammed to the actual register This is needed because a number of the registers are write only 306 Dynamic C User s Manual Appendix B Map File Generation All symbol information is put into a single file The map file has three sections a memory map section a function section and a globals section The map file format is designed to be easy to read but with parsing in mind for use in program down loaders and in other possible future utilities for example an independent debugger Also the memory map as defined by the org statements will be saved into the map file Map files are generated in the same directory as the file that is compiled If compilation is not suc cessful the contents of the map file are not reliable B 1 Grammar lt mapfile gt lt memmap section gt lt function section gt lt global section gt lt memmap section gt lt memmapreg gt lt memmapreg gt lt register var gt lt 8 bit const gt lt register var gt XPCISEGSIZEIDATASEG lt function section gt lt function descripton gt lt function description gt
284. ontain symbolic information which makes some information harder to decipher There is the potential for in creased debugging overhead if you open multiple dump windows and make them large Use a dump window when you suspect memory is being corrupted Or to watch string or numerical data manipulation procede String manipu lation can easily cause memory corruption if you are not careful Consider the following code char my_array 10 for i 0 ic 10 i my array i Oxff If you do not have run time checking of array indices enabled this code will corrupt whatever is immediately following my_array inmemory There is no run time checking for string manipulation so if you wrote something like the following in your application memory would be cor rupted when the null terminator for the string 1234 was written void foo int x char str 4 x OxfffFf strepy str 12347 Watching changes in a dump window will make the mistake more obvi ous in both of these situations though in the former turning on run time checking for array indices in the Compiler tab of the Project Options di alog is easier Chapter 6 Debugging with Dynamic C 77 6 1 7 MAP File Map files have been generated for compiled programs since Dynamic C 7 02 Pros Cons Uses Example The map file is full of useful information It contains e location and size of code and data segments e a list of all symbols used t
285. oosing whether to make its toolbar visible on the control bar To quickly return to only show ing the icons visible by default select Default Toolbars Select the option Consolidate visible buttons to one toolbar to do exactly that create one toolbar containing all visible icons Doing this enables the option Consolidated which tog gles the visibility of the consoli AN Environment Options 11 Project Options iv Debug Windows Window Views Help Eonsoldated Default Toolbars Show All Buttons Consolidate visible buttons to one toolbar Customize Button Groups dated toolbar even when it is undocked from the control bar Customize Menu Buttons x Create a new file Open a file Save current file Save All Edited Files Select Customize Button Groups to bring up the Customize Menu But tons window This window allows you to change which buttons are associated with which button group on the toolbar Choose a button n oup on the left side of the win Debug Windows J Create a new project with factory sett group g iia View ee eee dow this causes the icons for the eae buttons in that group to display on Save Project Save Project As the right side of the window Click and drag an icon from the right side of the window to the desired but ton group on the toolbar on To remove an icon from its button group click and drag the icon off the toolbar or to
286. orresponding file and place the cursor on the search string in that file Multiple filetypes can be separated by semicolons For example entering C mydirectory 1lib c will search all 1ib and c files in mydirectory Go to Line Number Positions the insertion point at the beginning of the specified line Previous Error lt Ctrl Alt P gt Locates the previous compilation error in the source code Any error messages will be dis played in a list in the Compiler Messages window after a program is compiled Dynamic C selects the previous error in the list and displays the offending line of code in the text window Chapter 15 Graphical User Interface 223 Next Error lt Ctrl Alt N gt Locates the next compilation error in the source code Any error messages will be displayed in a list in the Compiler Messages window after a program is compiled Dynamic C selects the next error in the list and displays the offending line of code in the text window Edit Mode lt F4 gt Switches to edit mode from run also known as debug mode After successful compilation or execution no changes to the file are allowed unless in edit mode If the compilation fails or a runtime error occurs Dynamic C comes back already in edit mode Starting with Dynamic C 9 you can reenter debug mode directly from edit mode without a program compile and download This is useful for debugging a program that crashes unex pectedly or loses communication with Dynamic C A pro
287. ows assumptions to be made about arguments passed on the stack and auto variables can be defined by reserving locations on the stack for them However the offsets of such implicit arguments and variables must be kept track of If a function expects arguments or needs to use stack based variables Z World recommends using the embedded assembly techniques described in the next section 12 3 1 Stand Alone Assembly Code in Extended Memory Stand alone assembly functions may be placed in extended memory by adding the xmem keyword as a qualifier to asm as shown below Care needs be taken so that branch instructions do not jump beyond the current xmem window To help prevent such bad jumps the compiler limits xmem assembly blocks to 4096 bytes Code that branches to other assembly blocks in xmem should always use 1jp or 1call asm xmem main lcall fcn_in_xmem lrer endasm asm xmem fcn _ in xmem lret endasm Chapter 12 Using Assembly Language 153 12 3 2 Example of Stand Alone Assembly Code The stand alone assembly function foo can be called from a Dynamic C function ime wee aime 5 A function prototype can be declared for stand alone assembly functions which will cause the compiler to perform the appropriate type checking main ime i jg weil j foo i asm iO Ole Gl lel 2 The return value expected by main is put ret in HL just before foo returns endasm
288. pecial program prepares the filesystem and formats it The application never formats it expects the filesystem to be in a proper state e The application can perform some sort of consistency check If it determines an inconsis tency it calls format The consistency check could include testing for a file that should exist or by checking some sort of signature that would be unlikely to occur by chance e Have the application prompt the end user if some form of interaction is possible e A combination of one or more of the above e Rely ona flash device being erased This would be OK for a production run but not suit able if battery backed SRAM was being used for part of the filesystem Chapter 11 The Flash File System 141 11 4 2 Logical Extents LX The presence of both devices causes an initial default configuration of two logical extents a k a LXs to be set up An LX is analogous to disk partitions used in other operating systems It represents a contiguous area of the device set aside for file system operations An LX contains sec tors that are all the same size and all contiguously addressable within the one device Thus a flash device with three different sector sizes would necessitate at least three logical extents and more if the same sized sectors were not adjacent Files stored by the file system are comprised of two parts one part contains the actual application data and the other is a fixed size area used to
289. pect Options Window Help D oe m ment ala Change Register Values Ctri Alt A Copy Ctrl C Switch to Editable View Ctrl Alt E A click of the right mouse button brings up the menu pictured above Choos ing Change Register Value s brings up a dialog where you can enter new values for any of the registers except SP PC and XPC Chapter 15 Graphical User Interface 245 Show registers as editable In this mode you can increment or decrement most of the registers all but the SP PC and XPC registers This screen shows the Register Contents window in editable mode It is divided into registers on the left and flags on the right gt Dynamic C Dist 8 00Beta2 File Edit Compile Run Inspect Options Window Help D Smal 1ean ljal PsA Register Contents ofj Xx OxF Ox00z27 OxCEZO z Ox2z CC Ox3040 0x0009 0x0000 0x0000 OxCS8D RNA RH OR 1 Fooooqooor OxDFFD n 0x1lE32 Decrement Register Ctr Alt D 0x0000 Increment Register Ctri Alt New Register Value Ctrl Alt N Switch to History View Ctrl Alt H A click of the right mouse button on the register side will bring up the menu pictured here You can switch to history view or change register values for all but the SP PC and XPC registers The option New Register Value will bring up a dialog to enter New Register Value fn the new register value Hex values must have Ox Cancel prepended to the value Values w
290. permissible to put function bodies in header sections but it s not recommended because the function will be compiled with any application that uses the library Since variables declared in a header section will be allocated memory space unless the declaration is preceded with extern the variable declaration should be in the module body instead of the header to save data space The scope of anything inside the module header is global this includes compiler directives Since the headers are compiled before the module bodies the last one of a given type of directive encountered will be in effect and any previous ones will be forgotten Using compiler directives like class or memmap inside module headers is inadvisable If it is important to set for example class auto for some library modules and class static for oth ers the appropriate directives should be placed inside the module body not in the module header Furthermore since there is no guaranteed compilation order and compiler directives have global scope when you issue a compiler directive to change default behavior for a particular module at the end of the module you should issue another compiler directive to change back to the default behavior For example if a module body needs to have its storage class as static have a class static directive at the beginning of the module body and class auto at the end 40 Dynamic C User s Manual 4 23 1 3 Mod
291. piling to a file Factory Default RST 28 instructions are included GUI Equivalent This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check Include RST 28 instructions rd Description Do not include debug code when compiling to a file This option is ignored if not compiling to a file Factory Default RST 28 instructions are included GUI Equivalent This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Uncheck Include RST 28 instructions ri Description Enable runtime checking of array indices Factory Default Runtime checking of array indices is performed GUI Equivalent Check Array Indices in the Project Options Compiler dialog box Fi Description Disable runtime checking of array indices Factory Default Runtime checking of array indices is performed GUI Equivalent Uncheck Array Indices in the Project Options Compiler dialog box rp Description Enable runtime checking of pointers Factory Default Runtime checking of pointers is performed GUI Equivalent Check Pointers in the Project Options Compiler dialog box 280 Dynamic C User s Manual rp Description Factory Default GUI Equivalent fW Description Factory Default GUI Equivalent fW Description Factory Default GUI Equivalent
292. ple of dump windows by typing in the 5 digit physical address for one window and the XPC offset into another and seeing that the contents are the same Chapter 6 Debugging with Dynamic C 79 6 1 8 Execution Trace Execution tracing was introduced in Dynamic C 9 The program Samples demo4 c demon strates its use Go to Section 3 4 on page 12 for a full description of demo4 c There are basically three ways to toggle tracing during program execution Two of them are simi lar they require that tracing be enabled in the Debugger tab of the Project Options dialog and they do not trace in nodebug functions e GUI options Opening the Inspect menu you will see the Stop Execution Trac ing and the Start Execution Tracing commands along with their keyboard shortcuts and toolbar buttons Use any of these methods to start and stop execu tion tracing while the program is running or while stopped at a breakpoint _TRACEON and TRACEOFF Macros that are the equal to the GUI options The third way does not require tracing to be enabled and it can be done in nodebug functions _TRACE A macro that causes itself and only itself to be traced Note that execution tracing is intrusive slightly more so when the Trace window is open Pros Cons Uses Example The large amount of tracing information that may be saved on the host PC is available even if the program crashes Tracing information fields can be turned on and
293. ppear Display Tab Click on the Display tab to display the following dialog Environment Options Liven sl vein sl EE eovorseae define N 1000 const float SORT PI 1 772453685 the square root const char label The square root of pi is r int i for i 0 i lt N i printf ts f n label SQRT_PI Editor Font This area of the dialog box is for choosing the font style and size Check Use mono font for fixed spacing with each character note that this option limits the available font styles Special Symbols Check Use to view end of line end of file space and or tab symbols in the editor win dow 238 Dynamic C User s Manual Background Colors This area of the dialog box is for choosing background colors for editor windows and the main Dynamic C workspace The editor window can have a different background color in edit mode than it does in run mode Each pulldown menu has an icon to the right that brings up additional color choices Syntax Colors Tab Click on the Syntax Colors tab to display the following dialog Environment Options Peselfeieigiel ee BaGKG Tout olGT Ive do Reserved words Defines Z Identifier Delimiters 3 Assembler i define N 1000 const float SORT PI 1 77245385 the square root const char label The square root of pi is int i for i 0 i lt N i printf ss f n label SQRT_PI Chapter 15 Graphic
294. project As with Open the BIOS will automatically be recompiled prior to the com pilation of a source file within the new environment The new environment may have a different library directory file and or a different BIOS file 294 Dynamic C User s Manual 17 4 Command Line Usage When using the command line compiler dccl_cmp exe a project file is always read The default project default dcp is used automatically unless the project file switch pf specifies another project file to use The project settings are read by the command line compiler first even if a pf switch comes after the use of other switches and then all other switches used in the com mand line are read which may modify any of the settings specified by the project file The default behavior given for each switch in the command line documentation is with reference to the factory dcp settings so the user must be aware of the default state the command line compiler will actually use The settings of default dcp can be shown by entering dccl_cmp alone on the command line The defaults for any other project file can be shown by following decl_cmp by a the project file switch without a source file The command dccl_ cmp shows the current state of all default dcp settings The command dccl_ cmp pf myProject shows the current state of all myProject dcp settings And the command dccl_ cmp myProgram c ne 25 pf myProject reads myProject dcp then compiles
295. pter 11 The Flash File System 145 146 Dynamic C User s Manual 12 Using Assembly Language This chapter gives the rules for mixing assembly language with Dynamic C code A reference guide to the Rabbit Instruction Set is available from the Help menu of Dynamic C and is also doc umented in the Rabbit Microprocessor Instruction Reference Manual available on the Rabbit web site www rabbitsemiconductor com docs 12 1 Mixing Assembly and C Dynamic C permits assembly language statements to be embedded in C functions and or entire functions to be written in assembly language C statements may also be embedded in assembly code C language variables may be accessed by the assembly code 12 1 1 Embedded Assembly Syntax Use the asm and endasm directives to place assembly code in Dynamic C programs For example the following function will add two 64 bit numbers together The same program could be written in C but it would be many times slower because C does not provide an add with carry operation adc void eightadd char chl char ch2 asm ld hl sp SP ch2 get source pointer ex de h1 save in register DE ld hl sp SP ch1 get destination pointer ld b 8 number of bytes xor a clear carry loop ld a de ch2 source byte adc a h1 add chl byte ld hl a store result to chl address ino pl increment ch1 pointer inc de increment ch2 pointer djnz loop do 8 bytes chl now points to 64 bit resul
296. r handler with a custom one Table 9 1 Dynamic C Error Types Ranges Error Type Meaning 0 127 Reserved for user defined error codes 128 255 Reserved for use by Dynamic C Chapter 9 Run Time Errors 125 9 1 2 Fatal Error Codes This table lists the fatal errors generated by Dynamic C Table 9 2 Dynamic C Fatal Errors Error Type Meaning 127 227 not used 228 Pointer store out of bounds 229 Array index out of bounds 230 233 not used 234 Domain error for example acos 2 235 Range error for example tan pi 2 236 Floating point overflow 237 Long divide by zero 238 Long modulus modulus zero 239 not used 240 Integer divide by zero 241 Unexpected interrupt 242 not used 243 Codata structure corrupted 244 Virtual watchdog timeout 245 XMEM allocation failed xalloc call 246 Stack allocation failed 247 Stack deallocation failed 248 not used 249 Xmem allocation initialization failed 250 No virtual watchdog timers available 251 No valid MAC address for board 252 Invalid cofunction instance 253 Socket passed as auto variable while running uC OS II 254 not used 255 126 Dynamic C User s Manual 9 2 User Defined Error Handler Dynamic C allows replacement of the default error handler with a custom error handler This is needed to add run time error handling that would require treatment not supported b
297. r tasks to be run this control problem can be solved better by creating a loop that processes a number of tasks Now each task can relinquish control when it is waiting thereby allowing other tasks to proceed Each task then does its work in the idle time of the other tasks 5 3 Costatements Costatements are Dynamic C extensions to the C language which simplify implementation of state machines Costatements are cooperative because their execution can be voluntarily suspended and later resumed The body of a costatement is an ordered list of operations to perform a task Each costatement has its own statement pointer to keep track of which item on the list will be performed when the costatement is given a chance to run As part of the startup initialization the pointer is set to point to the first statement of the costatement The statement pointer is effectively a state variable for the costatement or cofunction It specifies the statement where execution is to begin when the program execution thread hits the start of the costatement All costatements in the program except those that use pointers as their names are initialized when the function chain GLOBAL INIT is called GLOBAL INIT is called automatically by premain before main is called Calling GLOBAL INIT from an application program will cause reinitialization of anything that was initialized in the call made by premain 5 3 1 Solving the Real Time Problem with Costatements The Dynami
298. rage class can be superseded by the use of the key word auto or static ina variable declaration These terms apply to local variables that is variables defined within a function If a variable does not belong to a function it is called a global variable available anywhere in the program but there is no keyword in C to represent this fact Global variables always have static storage 28 Dynamic C User s Manual 4 15 Pointers A pointer is a variable that holds the 16 bit logical address of another variable a structure or a function Dynamic C does not currently support long pointers The indirection operator is used to declare a variable as a pointer The address operator amp is used to set the pointer to the address of a variable Ue Oe IO al Te LA ocr CO 1 Gl set pointer equal to the address of i i 10 assign a value to i J pier tO L this sets j equal to the value in i In this example the variable ptr_to_i is a pointer to an integer The statement j ptr_to_i references the value of the integer by the use of the asterisk Using correct pointer terminology the statement dereferences the pointer ptr_to_i Then ptr_to_i and i have identical values Note that ptr_to_iand i do not have the same values because ptr_to_i is a pointer and i is an int Note also that has two meanings not counting its use as a multiplier in others contexts in a variable declaration such as int ptr_to_i th
299. ram sequencing branching and looping Sequencing is simply the execution of one statement after another Looping is the repetition of a group of statements Branching is the choice of groups of statements Program flow is altered by calling a function that is transferring control to the function Control is passed back to the calling function when the called function returns 4 18 1 Loops A while loop tests a condition at the start of the loop As long as expression is true non zero the loop body some statement s will execute If expression is initially false zero the loop body will not execute The curly braces are necessary if there is more than one statement in the loop body while expression some statement s A do loop tests a condition at the end of the loop As long as expression is true non zero the loop body some statement s will execute A do loop executes at least once before its test Unlike other controls the do loop requires a semicolon at the end do some statements while expression j The for loop is more complex it sets an initial condition exp evaluates a terminating condi tion exp2 and provides a stepping expression exp3 that is evaluated at the end of each iteration Each of the three expressions is optional for expl exp2 exp3 some statement s If the end condition is initially false a for loop body will not execute at all A typical use of the for loop is to cou
300. rd is included at the end of the case s statements the program will fall through and execute the state ments for any number of other cases The break keyword causes the program to exit the switch case statement The colons after case and default are required 4 19 Function Chaining Function chaining allows special segments of code to be distributed in one or more functions When a named function chain executes all the segments belonging to that chain execute Function chains allow the software to perform initialization data recovery and other kinds of tasks on request There are two directives makechain and funcchain and one keyword seg chain that create and control function chains makechain chain name Creates a function chain When a program executes the named function chain all of the func tions or chain segments belonging to that chain execute No particular order of execution can be guaranteed funcchain chain name name Adds a function or another function chain to a function chain segchain chain name statements Defines a program segment enclosed in curly braces and attaches it to the named function chain Function chain segments defined with segchain must appear in a function directly after data declarations and before executable statements as shown below my_function data declarations segchain chain x some statements which execute under chain_x segchain chain y so
301. reason Its stack activity had completed and program execution had returned to main when the stack was traced at the breakpoint in the function mycmp 2 CA DYNAMIC C 9 SAMPLES QSORTDEMO C user defined compare must be int mycmp int p int q Beturn p q p woid main j int i copy initialized data to memcpy p Q sizeof Q sort it qsort p ARRAY_ELEMENT_COUNT 2 mycmp Stack Trace a mycmp p 0xC377 q OxC37F qsort base n OxA s 0x2 cmp 0x1D94 i 0x0 3 0x9 piv 0x4 lo 0x0 hi 0x9 pivot OxC37F DO maini i 0x1DBB Depth 35 Max Depth 35 Chapter 6 Debugging with Dynamic C 81 6 1 10 Assert Macro The assert macro was introduced in Dynamic C 8 51 The Dynamic C implementation of assert follows the ANSI standard for the NDEBUG macro but differs in what the macro is defined to be so as to save code space ANSI specifies that assert is defined as void 0 when NDEBUG is defined but this generates a NOP in Dynamic C so it is defined to be nothing Pros Cons Uses Example The assert macro is self checking software It lets you explicitly state something is true and if it turns out to be false the program terminates with an error message At the time of this writing this link contained an excellent write up on the assert macro http www embedded com story OEG20010311S0021 Side effects can occur if the assert macro is not coded properly e g as
302. ries you write yourself Ga File Edit Compile Run Inspect Options Window Help lej x D Emal SB AA All e m sR aint f f programs begin with main while 1 Start an endless loop i f f increment the counter for j 0 j lt 20000 j Delay by counting to 20 000 printt i din ij f f Print out counter Defaut kines 21 Cok 70 o Z Figure 2 Sample Program DEMO1 C To run DEMO1 C compile it using the Compile menu and then run it by selecting Run gt inthe Run menu The keyboard shortcut lt F9 gt will compile and run the program You may also use the green triangle toolbar button as a substitute for lt F9 gt The value of the counter should be printed repeatedly to the Stdio window if everything went well If this doesn t work review the following points e The target should be ready indicated by the message BIOS successfully compiled If you did not receive this message or you get a communication error recompile the BIOS by typing lt Ctrl Y gt or select Reset Target Compile BIOS from the Compile menu 8 Dynamic C User s Manual e A message reports No Rabbit Processor Detected in cases where the wall transformer is not connected or not plugged in The programming cable must be connected to the controller The colored wire on the program ming cable is closest to pin 1 on the programming header on the controller The other end of the programming cable must be conn
303. rk temporarily because of tem porary information pushed on the stack The shaded area in the stack frame is the stack storage allocated for auto variables The assem bler symbol SP represents the size of this area The Frame Reference Point The frame reference point is a location in the stack frame that immediately follows the function s return address The IX register may be used as a pointer to this location by putting the keyword useix before the function or the request can be specified globally by the compiler directive useix The default is nouseix If the IX register is used as a frame reference pointer its pre vious value is pushed on the stack after the function s return address The frame reference point moves to encompass the saved IX value Chapter 12 Using Assembly Language 155 12 4 2 Embedded Assembly Example The purpose of the following sample program asm1 c is to show the different ways to access stack based variables from assembly code WOuGl tune lehen Clu wae Ly Jkeme Le y main char ch TE aL p long 1g Gla seilil p m Ox22Q33 p lg 0x44556677L Ewuae Ela a Ike p void Tunc char ca mie i leng dle auto int x auto int Z x 0x8888 ZO Xe IOS asm This is equivalent to the C statement x 0x8888 ld hl 0x8888 ld sp SP x hl This is equivalent to the C statement z 0x9999 el Indl 09999 ld sp SP z hl SP i gives the offset of i from
304. rn value of this function is the ID of the virtual watchdog If an attempt is made to allocate more than 10 virtual WDTs a fatal error occurs In debug mode this fatal error will cause the program to return with error code 250 The default run time error behavior is to reset the board The ID returned by VdGet FreeWd is used as the argument when calling VaHitWd ID to hit a virtual watchdog or VdReleaseWd ID to deallocate it The Virtual Driver counts down watchdogs every 62 5 ms If a virtual watchdog reaches 0 this is fatal error code 247 Once a virtual watchdog is active it should be reset periodically with a call to VAHitWd ID to prevent this If count 2 for a particular WDT then VAHitWd ID will need to be called within 62 5 ms for that WDT If count 255 VdHitWd ID will need to be called within 15 94 seconds The Virtual Driver does not count down any virtual WDTs if the user is debugging with Dynamic C and stopped at a breakpoint i The Rabbit 3000A has a secondary hardware watchdog timer See the Rabbit 3000 Microproces sor s User s Manual for details Chapter 7 The Virtual Driver 93 7 5 Preemptive Multitasking Drivers A simple scheduler for Dynamic C s preemptive slice statement is serviced by the Virtual Driver The scheduling for uwC OS II a more traditional full featured real time kernel is also done by the Virtual Driver These two scheduling methods are mutually exclusive slicing and uC
305. rogram 0 eee 10 5 2 A Real Time Problem eee 47 3 2 Run DEMO2 C 0 era sinsin es 10 i Solving the Real Time Problem Watching Variables Dynamically 10 with a State Machine 47 3 3 Run DEMOZ C Kirenii peces teses 11 i 5 3 CostateMents eeina 48 Cooperative Multitasking 11 Solving the Real Time Problem 3 4 Run DEMO4 C wisssssssssssssssssssseeeeesese 12 i with Costatements eeeeeeeee 48 Trace MactoS s iscciiiicecsey 13 35 S f Feat l4 Costatement Syntax eee 49 PSE ye a hae ee ear Dy Control Statements cesses 50 4 Language neg hea 15 5 4 Advanced Costatement Topics 52 4 1 C Language Elements 0 eee 15 The CoData Structure ccce 52 4 2 Punctuation TokenS ceeeeeeeeeeeee 16 CoData Fields eee eee 52 AS Datarea ciara Neca cheated 17 Pointer to CoData Structure 53 Data Type Limits ccccceeeeceees 17 Functions for Use With Named 4A NaMes is coe scien esos ii Gules 18 Costatement 0 0 0 eee ee eeeeeeeee 54 A S MAaClOS cessctiss a ea EE 19 Firsttime Functions cccceseeeees 55 Macro Operators and 19 Shared Global Variables 55 Nested Macro Definitions 20 5 5 Cofunctions 00 0 ecsceecesseceeseeeesneeeees 56 Macro Restrictions ccccsceeeeees 21 Cofunction SyntaXx c cece 56 4 6 Numbe S cecceccese
306. rom the serial port on the slave into the provided buffer Waits until at least one character has been read Returns after buffer is full or timeout has expired be tween reading bytes Yields to other tasks while waiting for data PARAMETERS address Slave channel address of serial handler buffer Buffer to store received bytes length Size of buffer timeout Time to wait between bytes before giving up on receiving any more RETURN VALUE gt 0 Bytes read 1 Failure LIBRARY MASTER SERIAL LIB 106 Dynamic C User s Manual cof MSwrite int cof MSwrite char address char data int length DESCRIPTION Transmits an array of bytes from the serial port on the slave Yields to other tasks while waiting for write buffer to clear PARAMETERS address Slave channel address of serial handler data Array to be transmitted length Size of array RETURN VALUE Number of bytes actually written or 1 if error LIBRARY MASTER SERIAL LIB MSclose int MSclose char address DESCRIPTION Closes a serial port on the slave PARAMETERS address Slave channel address of serial handler RETURN VALUE 0 Success 1 Failure LIBRARY MASTER SERIAL LIB Chapter 8 The Slave Port Driver 107 MSgetc int MSgetc char address DESCRIPTION Receives a character from the serial port PARAMETERS address Slave channel address of serial handler RETURN VALUE Value of received character 1 No character availab
307. rs Colors tyle a Foreground L Black 7 Sy z Background CoO White Position jeo define N 1000 const float SORT PI 1 77245365 the square root const char label The square root of pi is r maini int i for i 0 i lt N i printf ss f n label SQRT_PI Cancel Help Editor gutter Check the Visible box to create a gutter in the far left side of the text window Use the Width scroll bar to set the width of the gutter in pixels The button to the right updates the width parameter Changing the width and clicking on OK at the bottom of the dia log does not update the gutter width you must click on the button Use the Color pull down menu to set the color The button to the right brings up more color choices Editor margin Check the Visible box to create a right hand margin in the text window Use the Width scroll bar and the Color pulldown menu to set the like named attributes of the margin line The Style pulldown menu displays the line choices available a solid line and var ious dashed lines The Position scroll box is used to place the margin at the desire location in the text window Chapter 15 Graphical User Interface 237 Line Number Colors If line numbers are set to visible and are not placed on the gutter the Foreground color will set the color of the line numbers and the Background color will set the color on which the line numbers a
308. rse video or in customizable colors every time you single step in either C or assembly e Enhanced Mode Switching Debug mode can be entered without a recompile and download If the contents of the debugged program are edited Dynamic C prompts for a recompile e Enhanced Stdio Window The Stdio window is directly searchable 6 1 Debugging Tools This section describes the different tools available for debugging including their pros and cons as well as when you might want to use them how to use them and an example of using them The examples are suggestions and are not meant to be restrictive While there may be some collaboration bug hunting is largely a solitary sport with different people using different tools and methods to solve the same problem 70 Dynamic C User s Manual 6 1 1 printf The printf function has always been available in Dynamic C with output going to the Stdio window by default and optionally to a file by configuring the Stdio window contents to log to a file The ability to redirect output to any one of the serial ports A B C or D was introduced in Dynamic C 7 25 In DC 8 51 serial ports E and F were added for the Rabbit 3000 See Samples stdio_serial c for instructions on how to use the serial port redirect This fea ture is intended for debug purposes only The syntax for printf is explained in detail in the Dynamic C Function Reference Manual including a listing of allowable conversion c
309. rt This default behavior may be disabled by checking the Disable Baud Negotiation check box When baud negotiation is disabled the program will download at 115k baud or 56k baud only When enabled it will download at speeds up to 460k baud as specified by Max Download Baud Rate Serial Port This is the COM port of the PC that is connected to the target It defaults to COMI Stop Bits The number of stop bits used by the serial drivers Defaults to 2 Enable Processor Verification Processor detection is enabled by default The connection is normally checked with a test using the Data Set Ready DSR line of the PC serial con nection If the DSR line is not used as expected a false error message will be generated in response to the connection check To bypass the connection check uncheck the Enable Processor Verification checkbox This allows custom designed systems to not connect the STATUS pin to the programming port Also disabling the connection check allows non standard PC ports or USB converters which might not implement the DSR line to work Use USB to Serial Converter Check this checkbox if a USB to serial converter cable is being used Dynamic C will then attempt to compensate for abnormalities in USB con verter drivers This mode makes the communications more USB RS232 con verter friendly by allowing higher download baud rates and introducing short delays at key points in the loading process Checking this box may al
310. run command if the program is not already compiled the run command compiles it Single Stepping This is done with the F8 key The F7 key can also be used for single stepping If the F7 key is used then descent into functions will take place With F8 the function is executed at full speed when the statement that calls it is stepped over Setting Breakpoints The F2 key is used to toggle a breakpoint at the cursor position Prior to Dynamic C 9 breakpoints could only be toggled while in run mode either while stopped at a breakpoint or when the pro gram ran at full speed Starting with Dynamic C 9 breakpoints can be set in edit mode and retained when changing modes or closing the file Watch Expressions A watch expression is a C expression that is evaluated on command in the Watches window An expression is basically any type of C statement that can include operators variables structures and function calls but not statements that require multiple lines such as for or switch You can have a list of watch expressions in the Watches window If you are single stepping then they are all evaluated on each step You can also command the watch expressions to be evaluated by using the lt Ctrl U gt command When a watch expression is evaluated at a breakpoint it is evaluated as if the statement was at the beginning of the function where you are single stepping Costatements A costatement is a Dynamic C extension that allows cooperative multitas
311. running it Set a break point at the start of the loop and then single step to get past the loop variable initialization Open the Inspect menu and choose Evaluate Ex pression Type in j 99 and click on the Evaluate button Now you are ready to start examining the program s behavior 76 Dynamic C User s Manual 6 1 6 Memory Dump The Dump window was improved in Dynamic C 8 01 in several ways For example multiple dump windows can be active simultaneously flyover hints make it easier to see the correct address and three different types of dumps are allowed Read the section titled Dump at Address for more information on these and the other improvements made in version 8 01 In Dynamic C 9 dump windows were improved again One improvement is that values that have changed are shown highlighted in reverse video or in customizable colors Another improvement is that the value entered in the Memory Dump Setup dialog is the first address shown in the dump window E g if you type in a logical address such as 74ec all addresses are in hexadecimal that will be the first address shown Earlier versions of Dynamic C took a zero based approach mean ing that the first address would be 74e0 Pros Cons Uses Example Dump windows allow access to any memory location beginning at any address There are alignment options the data can be viewed as bytes words or double words using a right click menu The Dump window does not c
312. ry statements executed thereafter until the _TRACEOFF macro is executed or by menu command Dynamic C captures the information you specified in the Project Options dialog and displays it in the Trace window In Demo4 c _TRACEON is executed in the function foo Note that tracing is turned on in the second call to foo1 inmain but that except for the TRACE statement there are no trace statements for foo1 This is because statements in nodebug functions are not traceable _TRACEOFF The TRACEOFF macro turns off tracing starting with the next statement after it executes Instances of the TRACE macro will still execute but tracing remains off until it is turned on by the TRACEON macro or by menu command Chapter 3 Quick Tutorial 13 3 5 Summary of Features This chapter provided a quick look at the interface of Dynamic C and some of the powerful options available for embedded systems programming The following several paragraphs are a summary of what we ve discussed Development Functions When you load a program it appears in an editor window You compile by clicking Compile on the task bar or from the Compile menu The program is compiled into machine language and down loaded to the target over the serial port The execution proceeds to the first statement of main where it pauses waiting to run Press lt F9 gt or select Run on the Run menu If want to compile and run the program with one keystroke use lt F9 gt the
313. s and the third constant is the address of variable xyz The numerical values initialize sequential word locations starting at the current code address 150 Dynamic C User s Manual 12 2 3 Multiline Macros The Dynamic C preprocessor has a special feature to allow multiline macros in assembly code The preprocessor expands macros before the assembler parses any text Putting a at the end of a line inserts a new line in the text This only works in assembly code Labels and comments are not allowed in multiline macros define SAVEFLAG ld a j S push af pop bce asm ld b 0x32 SAVEFLAG endasm 12 2 4 Labels A label is a name followed by one or two colons A label followed by a single colon is local whereas one followed by two colons is global A local label is not visible to the code out of the current embedded assembly segment i e code before the asm or after the endasm directive Unless it is followed immediately by the assembly language keyword equ the label identifies the current code segment address If the label is followed by equ the label equates to the value of the expression after the keyword equ Because C preprocessor macros are expanded in embedded assembly code Z World recommends that preprocessor macros be used instead of equ whenever possible 12 2 5 Special Symbols This table lists special symbols that can be used in an assembly language expression Tabl
314. s command causes the target to send execution tracing information to Dynamic C based on the trace options you choose in the Debugger tab of the Project Options dialog You can also do this from within your program with the TRACE and TRACEON macros The sample pro gram Samples Demo4 c describes and uses these trace macros Trace entries received are displayed in the Trace window see Trace Alt F12 on page 268 This menu command is only available if tracing is enabled in Project Options and Dynamic C is in run mode Note that turning on tracing causes a performance hit to your program because of the extra communication required between Dynamic C and the target If your program requires precise timing tracing may interfere Goto execution point lt Cirl E gt When stopped in debug mode this option places the cursor at the statement or instruction that will execute next 232 Dynamic C User s Manual 15 2 6 Options Menu Click the Options menu title or press lt Alt O gt to select the Options menu Environment Options Dynamic C comes with a built in full featured text editor It may be customized to suit your style using the Environ ment Options dialog box The dialog box has tabs for vari ous aspects of the editor Options Editor Tab Click on the Editor tab to display the following dialog Installation defaults are shown Environment Options SHOVE nomie Gtr QUIET lt a lt U Uni lt a U lt i ko in Sien ka
315. s common to most operating systems The solution is to save any desired files to out side the file system before changing its organization then after the change force a format of the file system 11 4 3 Logical Sector Size fs setup can also be used to specify non default logical sector LS sizes and other parame ters FS2 allows any logical sector size between 64 and 8192 bytes providing the LS size is an exact power of 2 Each logical extent including sub partitions can have a different LS size This allows some performance optimization Small LSs are better fora RAM LX since it minimizes wasted space without incurring a performance penalty Larger LSs are better for bulk data such as logs If the flash physical sector size i e the actual hardware sector size is large it is better to use a correspondingly large LS size This is especially the case for byte writable devices Large LSs should also be used for large LXs This minimizes the amount of time needed to initialize the file system and access large files As a rule of thumb there should be no more than 1024 LSs in any LX The ideal LS size for RAM which is the default is 128 bytes 256 or 512 can also be reason able values for some applications that have a lot of spare RAM Sector writable flash devices require LS size PS size Byte writable devices however may use any allowable logical sector size regardless of the physical sector size Sample program Samples Fil
316. s library and then makes a call to func_a will that function s print statement be reached The answer is yes Since all the headers were compiled first the macro SECONDHEADER is defined when the first module body is compiled 4 23 3 Important Notes Remember that in a Dynamic C application there is only one file that contains main All other source files used by the file that contains main are regarded as library files Each library must be included in LIB DIR or a user defined replacement for LIB DIR Although Dynamic C uses LIB as the library extension you may use anything you like as long as the complete path is entered in your LIB DIR file There is no way to define file scope variables in Dynamic C libraries 42 Dynamic C User s Manual 4 24 Function Description Headers Each user callable function in a Z World library has a descriptive header preceding the function to describe the function Function headers are extracted by Dynamic C to provide on line help mes sages The header is a specially formatted comment such as the following example START FUNCTION DESCRIPTION k kkk KKK KKK KKK KK WrlOport lt IO LIB gt SYNTAX void WrlIOport int portaddr int value DESCRIPTION Writes data to the specified I O port PARAMETER1 PARAMETER2 portaddr register address of the port value data to be written to the port RETURN VALUE None KEY WORDS SEE ALSO parallel port
317. s not exist Each region is identified as normal or BB RAM which refers to memory that is battery backed SeriallO exe The utility serialIo exe is located in Diagnostics Serial_1I0o It is also in the file SerialIO_ 1 zip available for download at the RabbitSemiconductor website This utility is a specialized terminal emulator program and comes with several diagnostic programs The diagnos tic programs test a variety of functionality and allow the user to simulate some of the behavior of the Dynamic C download process The utility has a Help button that gives complete instructions for its use The Rabbit 3000 Designer s Handbook in the chapter titled Troubleshooting Tips for New Rabbit Based Systems explains some of the diagnostic programs that come with the serialIO utility Understanding the information in this chapter will allow you to write your own diagnostic programs for the seriallO utility reset_demo c The sample program Samples reset_demo c demonstrates using the functions that check the reason for a reset hard reset power failure or pressing the reset button soft reset initiated by software or a watchdog timeout Chapter 6 Debugging with Dynamic C 83 Error Logging Chapter 9 Run Time Errors describes the exception handling routine for run time errors that is supplied with Dynamic C The default handler may be replaced with a user defined handler Also error logging can be enabled by setti
318. scheme that uses address line inversion to double the amount of logical address space in the base and data segments is enabled on the Compiler tab of the Options Project Options dialog Enabling separate I amp D space doubles the amount of root cod and root data available for an application program Use memmap xmem This will cause C functions that are not explicitly declared as root to be placed in xmem Note that the only reason to locate a C function in root is because it modifies the XPC reg ister in embedded assembly code or it is an ISR The only performance difference in run ning code in xmem is in getting there and returning It takes a total of 12 additional machine cycles because of the differences between call lcall and ret lret Increase DATAORG Root code space can be increased by increasing DATAORG in Rabbit Bios c in incre ments of 0x1000 DATAORG is the beginning logical address for the data segment The default is 0x3000 when separate I amp D space is enabled and 0x6000 otherwise It can be changed to as high as 0xB000 Be aware that increasing DATAORG reduces the amount of root data space Compile out floating point support Floating point support can be conditionally compiled out of stdio 1ib by adding define STDIO DISABLE FLOATS to either a user program or the Defines tab page in the Project Options dialog This can save several thousand bytes of code space Reduce usage of root constants and string litera
319. ser s Manual 303 Table A 1 Macros Defined by the Compiler Macro Name Definition and Default _FAST RAM _ FLASH _ _RAM_ These are used for conditional compilation of the BIOS to distinguish between the three options compiling to and running in flash e compiling to and running in RAM e compiling to flash and running in RAM The choice is made in the Compiler tab of Project Options The default is compiling to and running in flash The BIOS defines FAST _RAM_ COMPILE FLASH COMPILE and RAM COMPILE These macros are defined to 0 or 1 as opposed to the corresponding compiler defined macros which are either defined or not defined This difference makes possible statements such as if FLASH COMPILE FAST RAM COMPILE Setting FAST_RAM_ COMPILE limits the flash file system size to the smaller of the following two values 256K less the SystemID User Blocks reserved area the sum of the completely available flash sectors between the application code constants and the SystemID User Blocks reserved area FLASH SIZE _RAM SIZE_ These are used to set the MMU registers and code and data sizes available to the compiler The values of the macros are the number of 4K blocks of memory available __ LINE _ The compiler substitutes this macro with the current source code line number as a decimal constant NO BIOS Boolean value Tells the compiler whether or not to include the BIOS when compiling t
320. sert i 1 will never trigger the assert and will change the value of the variable i it should be coded as assert i 1 Use the assert macro when you must make sure your assumption is ac curate Check for a NULL pointer before using it void my function int ptr assert ptr 82 Dynamic C User s Manual 6 1 11 Miscellaneous Debugging Tools Noted here are a number of other debugging tools to consider General Debug Windows In addition to the debug windows we have discussed already there are three other windows that are available when a program is compiled the Assembly Register and Stack windows They are described in detail in Chapter 15 in the sections titled Assembly F10 Register Window and Stack F12 respectively xalloc_stats Prints a table of physical addresses that are available for allocation in xmem via xalloc calls To display this information in the Stdio window execute the statement xalloc_stats 0 in your application or use Inspect Evaluate Expression 7 Stdio Available salloci regions Regiont Low addr High addr Size Avail Type Py 3 dummy 2 dummy 1 524288 749055 224768 217088 normal Gx 66630008 ArAAAb dff rOHAS6eHO rAAAZSAHA 8 786432 1043575 262144 262144 normal Gx GG8cH008 GxGGGFFFFF GxG6640000 b 00045006 A region is a contiguous piece of memory Theoretically up to four regions can exist a region that is marked dummy is a region that doe
321. sessassssistives 188 vninitialized Ce ee ee eee eee 192 structure pointers a a oes Gates 30 PUTS PT A a 159 193 COMPOSIES asirese 28 UNION ssserersererererrereees 24 28 190 asm blocks ceeccceccccccecceecceee 153 keyword wecccccsssssesesseseeee 24 unpreserved registers 161 168 definition cceeeceeeee 131 MEStIN seessessesecsessecsesecccceceee A 190 SOP ed cen antec 131 300 offset of element 152 unsigned integer oie ies 21 Sting oieee 194 untitled files eee 221 328 Dynamic C User s Manual Dynamic C User s Manual 329 330 Dynamic C User s Manual
322. so help non standard PC ports to work properly with Dynamic C Chapter 15 Graphical User Interface 251 TCP IP Options In order to program and debug a controller across a TCP IP connection the Network Address field must have the IP address of either the Z World RabbitLink board that is attached to the controller or the IP address of a controller that has its own Ethernet interface To accept control commands from Dynamic C the Control Port field must be set to the port used by the Ethernet enabled controller The Controller Name is for informa tional purposes only The Discovery button makes Dynamic C broadcast a query to any RabbitLinks attached to the network Any RabbitLinks that respond to the broad cast can be selected and their information will be placed in the appropriate fields Compiler Tab Click on the Compiler tab to display the following dialog Project Options x Communications r Debugger Defines Targetless M Run Time Checking Optimize For IV Array Indices C Size IV Pointers f Speed M Type Checking BIOS Memory Setting IV Prototype Code and BIOS in Flash MV Demotion C Code and BIOS in RAM IV Pointer Code and BIOS in Flash Run in RAM M Warning Reports Max Shown All Errors 10 amp Serious Only None Wamings 10 gt M List Files I Generate assembly list file for each compile M Separate Instruction amp Data Space Enable separate instruction
323. ssary Save the file as whatever 1ib the name of your choice Add the file to applications with the statement use whatever lib remember to add this filename to lLib dir or by cut and pasting from whatever 1ib directly into the application file C 3 1 Rabbit Field Utility Module The RFU loads a binary file created by Dynamic C to a Rabbit based controller It can be used to load a program to a controller without Dynamic C present on the host computer and without recompiling the program each time it is loaded to a controller The Dynamic C installation created a desktop icon for the RFU The executable file rfu exe can be found in the subdirectory named Utilities where Dynamic C was installed Complete instructions are available by clicking on the Help button within the utility The Help document details setup information the file menu options and BIOS requirements There is also a command line version of the RFU On the command line specify c1RFU SourceFilePathName options where SourceFilePathName is the path name of the bin file to load to the connected tar get The options are as follows S port baudrate Description Select the comm port and baud rate for the serial connection Default COM1 and 115 200 bps RFU GUI From the Setup Communications dialog box choose values from the Baud Equivalent Rate and Comm Port drop down menus Example c1RFU myProgram bin s 2 115200 Dynamic C User s Manual 313
324. ssembly Window The Assembly window displays the disassembled code from the program just com piled All but the opcode information may be toggled off and on using the checkboxes shown below For more information about this window see Section 12 4 3 on page 157 Specific Preferences M Fonts and Colors Debug Windows if Stdi Forearound Calor Mee Je Assembly Black 7 amp amp alaik Background Color egisters Memory Dump C white Watch 5 Execution Trace Font F Use fied pitch Stack Trace Courier New Messanes Apply Settings to All Options JV Show Addresses IV Use Syntax Highlighting V Show Machine Code JV Show Source IV Show Clock Cycles V Show File Name in Source Line IV Sum Clock Cycles Show Addresses Check this to show the logical address of the instruction in the far left column Show Machine Code Check this to show the hexidecimal number corresponding to the opcode of the instruction Show Clock Cycles Check this to show the number of clock cycles needed to execute the instruc tion in the far right column Zero wait states is assumed Two numbers are shown for conditional return instructions The first is the number of cycles if the return is executed the second is the number of cycles if the return is not executed Sum Clock Cycles Check this to total the clock cycles for a block of instructions The block of instructions must be selected and highligh
325. ssociativity Function O I gt left to right member os EA P eee right to left unary left to right multiplicative left to right additive lt lt gt gt left to right bitwise lt lt gt gt left to right relational IE left to right equality amp left to right bitwise 7 left to right bitwise left to right bitwise amp amp left to right logical left to right logical Po right to left conditional ee _ right to left assignment comma left to right series Chapter 14 Operators 217 218 Dynamic C User s Manual 15 Graphical User Interface Dynamic C can be used to edit source files compile and run programs and choose options for these activities using pull down menus or keyboard shortcuts There are two modes edit mode and run mode run mode is also known as debug mode Various debugging windows can be viewed in run mode Programs can compile directly to a target controller for debugging in RAM or flash Programs can also be compiled to a bin file with or without a controller connected to the PC To debug a program a controller must be connected to the PC either directly via a programming cable or indirectly via an Ethernet connection and a RabbitLink board Multiple instances of Dynamic C can run simultaneously This means multiple debugging sessions are possible over dif ferent serial ports This is useful for debugging boards that are communicating among themselves 15 1 Editing
326. ssterereeseeserses 39 lt F3 gt prototypes oo 25 26 39 keystrokes Find Next oo 223 TEtUINS seeseeeee 159 160 161 lt ALT Backspace gt lt F5 gt saving registers 0 0 0 168 undoing changes 222 Compile 0 cceee 225 stack space occ 297 lt ALT C gt lt F7 gt transferring control 32 select Compile menu 225 Trace into wo 227 unbalanced stack 168 lt ALT F gt lt F8 gt function lookup lt CTRL H gt 271 select File menu 220 SiepiOvel uations 227 lt ALT F10 gt lt F9 gt G Disassemble at Address 230 RUD isis Snead 227 Global Initialization 97 lt ALT F2 gt keywords 159 169 183 185 Re Sot RR Nai 58 Toggle Hard Breakpoint abort 169 global variables cccsssssseeeeeee 8 OTE eeseeeeeeetestetsssssssesesssee AABN AE ss ees Gs col ses ates 170 as ie eae pele se lt ALT F4 gt ALWAYS_ON woeeeecececsesseeeseees 170 OLED sv Meise ales quitting Dynamic C 221 ee ee a0 H lt ALT F9 gt ASTIN fo E 171 Run w No Polling 227 AULO 2ba ANNs 171 hard breakpoints 228 lt ALT H gt Danii eects tls Bente 1k oe 171 header select Help menu 271 reak sietnie 172 FUNCTION orisi 43 lt ALT O gt Pe Sts ere Pathe e a 172 module 00 39 40 41 select Options ment 233 Dynamic C User s Manual 325 CASE veieecexs EE 172 Hbrari s inertne 3 38 mode CHAM sisse aiee neses 173 linking niiina 38 changing oes 224 CONSE
327. st baud rate for downloading is negotiated between the PC and the target To save to an RTI file only requires an entry in the CPU field Please see Technical Note 231 for information on the specifics of the Rabbit CPU revisions The correct choice for the CPU field is found on the chip itself The information is printed on the 3rd line from the top on the Rabbit 2000 and the 2nd line from the top on the Rabbit 3000 The Rabbit 2000 revision is IQ T where is the revision number and the letters are associated information The Rabbit 3000 revision is IL T or IZ T where is the revision number and the letters are associated information RABBIT 3000 ATS6C55 ILIT DOE4946AA 0209 aba RABBIT 3000 ATS6C55 IZIT 264993A 0230 Chapter 15 Graphical User Interface 263 Toolbars Selecting this menu item reveals a list of all menu button groups i e the groups of icons that appear in toolbars beneath the title bar and the main menu items File Edit This area is called the control bar Uncheck View Menu Buttons to remove the control bar from the Dynamic C window Any undocked toolbars i e toolbars floating off the control bar will still be visible You undock a toolbar by placing the cursor on the 2 vertical lines on the left side of the toolbar and dragging it off the control bar Each menu button group File Edit Compile Run Options Watch Debug Window Win dowView and Help has a checkbox for ch
328. stically in a product See Technical Notes 216 and 217 for more information on flash compatibility issues 18 2 4 Battery Backed RAM Static variables and global variables will always be located at the same addresses between power cycles and can only change locations via recompilation The file system can be configured to use RAM also While there may be applications where storing persistent data in RAM is acceptable for example a data logger where the data gets retrieved and the battery checked periodically keep in mind that a programming error such as an uninitialized pointer could cause RAM data to be cor rupted xalloc will allocate blocks of RAM in extended memory It will allocate the blocks consis tently from the same physical address if done at the beginning of the program and the program is not recompiled Chapter 18 Hints and Tips 299 18 3 Root Memory Reduction Tips Customers with programs that are near the limits of root code and or root data space usage will be interested in these tips for saving root space For more help see Technical Note TN238 Rabbit Memory Usage Tips This document is available on our website www zworld com and also by choosing Online Documentation from within the Help menu of Dynamic C 18 3 1 Increasing Root Code Space Increasing the available amount of root code space may be done in the following ways Enable Separate Instruction and Data Space A hardware memory management
329. stream write buffer LIBRARY SP_STREAM LIB SPSrdFree int SPSrdFree DESCRIPTION Returns the number of free bytes in the stream read buffer RETURN VALUE Space available in the stream read buffer LIBRARY SP_ STREAM LIB Chapter 8 The Slave Port Driver 121 SPSwrUsed int SPSwrUsed DESCRIPTION Returns the number of bytes currently in the stream write buffer RETURN VALUE Number of bytes currently in the stream write buffer LIBRARY SP_STREAM LIB SPSrdUsed int SPSrdUsed DESCRIPTION Returns the number of bytes currently in the stream read buffer RETURN VALUE Number of bytes currently in the stream read buffer LIBRARY SP_STREAM LIB 122 Dynamic C User s Manual 8 3 3 2 Byte Stream Sample Program This program Samples SlavePort Slave Demo c runs ona slave and implements a byte stream over the slave port class auto use Slave port lib use Sp stream lib define STREAM BUFFER _SIZE 31 main char buffer 10 int bytes read SPStream stream Circular buffers need 9 bytes for bookkeeping char stream_inbuf STREAM BUFFER SIZE 9 char stream _outbuf STREAM BUFFER SIZE 9 SPStream stream ptr setup buffers cbhuf_init stream_inbuf STREAM BUFFER_SIZE stream inbuf stream_inbuf cbhuf_init stream_outbuf STREAM BUFFER_SIZE stream outbuf stream_outbuf stream _ ptr amp stream SWalimalie Al p SPsetHandler
330. sume a valid processor is connected Processor verification is enabled Uncheck Enable Processor verification in the Project Options Communications dialog box Report all warnings All warnings reported Select All under Warning Reports in the Project Options Compiler dialog box Report no warnings All warnings reported Select None under Warning Reports in the Project Options Compiler dialog box Report only serious warnings All warnings reported Select Serious Only under Warning Reports in the Project Options Compiler dialog box Chapter 16 Command Line Interface 283 16 4 2 Switches Requiring a Parameter bf BIOSFilePathname Description Compile using a BIOS file found in BIOSFilePathname Factory Default Bios RabbitBios c GUI Equivalent This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check the box under User Defined BIOS File and then fill in the pathname for the new BIOS file Example dccl_cmp myProgram c bf MyPath MyBIOS 1lib clf ColdLoaderFilePathname Description Compile using cold loader file found in ColdLoaderFilePathname Factory Default Bios ColdLoad bin GUI Equivalent None Example dcecl_ cmp myProgram c clf MyPath MyColdloader bin 284 Dynamic C User s Manual d MacroDefinition Description Define macros and optional
331. t endasm The keywords debug and nodebug can be placed on the same line as asm Assembly code blocks are nodebug by default This saves space and unnecessary calls to the debugger kernel All blocks of assembly code within a C function are assembled in nodebug mode The only excep tion to this is when a block of assembly code is explicitly marked with debug Any blocks marked debug will be assembled in debug mode even if the enclosing C function is marked nodebug Chapter 12 Using Assembly Language 147 12 1 2 Embedded C Syntax AC statement may be placed within assembly code by placing a c in column 1 Note that which ever registers are used in the embedded C statement will be changed asm InitValues eree cime 07 c counter 256 TeL endasm 12 1 3 Setting Breakpoints in Assembly There are two ways to enable breakpoint support in a block of assembly code One way is to explicitly mark the assembly block as debug the default condition is nodebug This causes the insertion of RST 0x28 instructions between each assembly instruction These RST 0x28 instructions may cause jump relative i e j r instructions to go out of range but this problem can be solved by changing the relative jump j r to an absolute jump jp The other way to enable breakpoint support in a block of assembly code is to add a C statement before the desired assembly instruction Note that the assembly code must b
332. t Preview from here Environment Options x Editor Gutter amp Margin Display Syntax Colors Code Templates Debug Windows Print Alerts Print Options j Hi d JV Use Left Margin fi IV Use Footer JV Use Right Margin fi IV Number Pages IV Syntax Print Vv Dee fi Wrap Lines JV Use Bottom Margin fi M Editor Font Name Size Courier New x 10 v Setup Preview Alerts Flash icon in taskbar after successful compile and download I Beep after successful compile and download IV Detect changes made to open file outside of IDE and prompt for reload IV Confirm compilation of library files Ceat The Page Setup dialog works in conjunction with the Print Alerts dialog The Page Setup dialog is where you define the attributes of headers footers page numbering and margins for the printed page The Print Alerts dialog is where you enable and disable these set tings You may also change the font family and font size that will be used by the printer This does not apply to the fonts used for headers and footers those are defined in the Page Setup dialog There are 4 checkboxes in the Alerts area of this dialog The first 2 signal a successful compile and download one with a visual signal the other auditory The 3rd checkbox detects if a file that is currently open in Dynamic C has been modified by an external source i e a 3rd party editor and if checked will bring up a dia
333. t X Y Z asm ld hl1 0x3333 auto A functions s local variable is located on the system stack and exists as long as the function call does int fone 7 auto float x bbram Identifies a variable to be placed into a second data area reserved for battery backed RAM with boards with more than one RAM device Generally the battery backed RAM is attached to CS1 due to the low power requirements In the case of a reset or power failure the value of a bbram variable is preserved but not atomically like with protected variables No software check is possible to ensure that the RAM is battery backed This requirement must be enforced by the user If interested please see the Rabbit 3000 Microprocessor Designer s Handbook for information on how the second data area is reserved On boards with a single RAM bbram variables will be treated the same as normal root variables No warning will be given the bbram keyword is simply ignored when compiling to boards with a single RAM Chapter 13 Keywords 171 break Jumps out of a loop if or case statement while expression if condition break switch expression case 3 break c Use in assembly block to insert one Dynamic C instruction asm InitValues c start_time 0 c counter 256 ld hl 0xa0 ret endasm case Identifies the next case in a Switch statement switch expression case constant case constant case constant
334. t as quickly in extended memory as it does in root memory but calls to and returns from the functions in extended memory take a few extra machine cycles Code placement in mem ory can be changed by the keywords xmem and root depending on the type of code Pure Assembly Routines Pure assembly functions may be placed in root memory or extended memory Prior to Dynamic C version 7 10 pure assembly routines had to be in root memory C Functions C functions may be placed in root memory or extended memory Access to variables in C state ments is not affected by the placement of the function Dynamic C will automatically place C functions in extended memory as root memory fills Short frequently used functions may be declared with the root keyword to force Dynamic C to load them in root memory Inline Assembly in C Functions Inline assembly code may be written in any C function regardless of whether it is compiled to extended memory or root memory All static variables even those local to extended memory functions are placed in root memory Keep this in mind if the functions have many variables or large arrays Root memory can fill up quickly 132 Dynamic C User s Manual 10 3 Dynamic Memory Allocation Dynamic C 9 introduces the ability for an application to allocate a pool of memory at compile time for dynamic allocation and deallocation of fixed size blocks at run time A pool can be located in root or extended memory Descriptions
335. t time from the stack Otherwise it is more efficient to com pute a new SP instead The following code demonstrates how to unwind arguments totaling 36 bytes of stack storage Note that HL is changed by this code Use ex de hl to save HL if HL has the return value epee Ele lal save HL if required ld hl 36 want to pop 36 bytes add hl sp compute new SP value diel edal put value back to SP PERS Ce restore HL if required 2 Ifthe function returns a struct unload the returned structure 3 Restore registers previously saved Pop them off if they were stored on the stack 4 Ifthe function return was not a struct obtain the returned value from HL or BCDE Chapter 12 Using Assembly Language 161 12 7 Interrupt Routines in Assembly Interrupt Service Routines ISRs may be written in Dynamic C declared with the keyword interrupt But since an assembly routine may be more efficient than the equivalent C func tion assembly is more suitable for an ISR Even if the execution time of an ISR is not critical the latency of one ISR may affect the latency of other ISRs Either stand alone assembly code or embedded assembly code may be used for ISRs The benefit of embedding assembly code in a C language ISR is that there is no need to worry about saving and restoring registers or reenabling interrupts The drawback is that the C interrupt function does save all registers which takes some amount of time
336. t window Go to Bookmark Go to one of 10 bookmarks in the active edit window Executing this command again will take you back to the location you were at before going to the bookmarked location 222 Dynamic C User s Manual Find lt Ctrl F gt Finds first occurrence of specified text Text may be specified by selecting it prior to opening the Find dialog box if the option Find text at cursor is checked in the Editor dialog under Environment Options Only one word may be selected if more than one word is selected the last word selected appears as the entry for the search text More than one word of text may be specified by typing it in or selecting it from the available history of search text There are several ways to narrow or broaden the search criteria using the Find dialog box For example if Case sensitive is unchecked then Switch and SWITCH would match the search text switch If Whole words only is checked then the search text switch would not match switches Selecting Entire scope will cause the whole document to be searched If Selected text is chosen and the Persistent blocks option was checked in the Editor tab in Envi ronment Options the search will take place only in the selected text Replace lt F6 gt Finds and replaces the specified text Text may be specified by selecting it prior to opening the Replace Text dialog box Only one word may be selected if more than one word is sele
337. tainability portability and re use of code In Dynamic C libraries and sample programs some of the standards are as follows Macros names are capitalized with an underscore separating words e g MY_MACRO Function names start with a lowercase letter with an underscore or a capital letter sep arating words e g my_function ormyFunction Use parenthesis Do not assume everyone has memorized the rules of precedence E g a b lt lt C this is legal a b lt lt c but this is more clear yY Y Use consistent indenting This increases readability of the code Look in the Editor tab in the Environment Options dialog to turn on a feature that makes this automatic Use block comments only for multiple line comments on the global level and line comments inside functions unless you really need to insert a long multiple line comment The reason for this is it is difficult to temporarily comment out sections of code using when debugging if the section being commented out has block comments since block comments are not nestable Use Dynamic C code templates to minimize syntax errors and some typos Look in the Code Templates tab in the Environment Options dialog to modify existing templates or create you own Right click in an editor window and select Insert Code Template from the popup menu This will bring up a scroll box containing all the available tem plates from which to choose
338. tatement may return an argument value as in the following example HIME J pp Kp Wp Be j waitfordone x Cofuncl k wvaictorcdonel ty Comune a mr uaz Cet ine s emia The keyword wait fordone can be abbreviated to the keyword wfd must be inside a costate ment or cofunction Since a cofunction must be called from inside a wf d statement ultimately a wfd statement must be inside a costatement If only one cofunction is being called by wfd the curly braces are not needed The wfd statement executes cofunctions and firsttime functions When all the cofunctions and firsttime functions listed in the wfd statement are complete or one of them aborts exe cution proceeds to the statement following wf d Otherwise a jump is made to the ending brace of the costatement or cofunction where the wfd statement appears and when the execution thread comes around again control is given back to wfd In the example above x y and z must be set by return statements inside the called cofunc tions Executing a return statement in a cofunction has the same effect as executing the end brace In the example above the variable k is a status variable that is set according to the following scheme If no abort has taken place in any cofunction k is set to 1 2 n to indicate which cofunction inside the braces finished executing last If an abort takes place k is set to 1 2 n to indicate which cofunction caused the abort 5 5 2 1 Using the IX Re
339. ted using the mouse The total is displayed to the right of the number of clock cycles of the last instruction in the block This value assumes one execution per instruction so looping and branching must be considered separately 244 Dynamic C User s Manual Use Syntax Highlighting Toggle syntax highlighting Click on the Syntax tab to set the different colors Show Source Check this to display the Dynamic C statement corresponding to the assembly code Show File Name in Source Line Check this to prepend the file name to the Dynamic C statements correspond ing to the assembly code Register Window For this window you must choose one of the following conditions Show register his tory or Show registers as editable When the Register Contents window opens it will be in editable mode by default Selecting Show Register history will override the default setting Show register history In this mode a snapshot of the register and flag values is displayed every time program execution stops The line L and column C of the cursor is noted followed by the register and flag values The window is scrollable and sec tions may be selected with the mouse then copied and pasted Starting with Dynamic C 9 each time you single step in C or assembly changed data is highlighted in the Register window This is also true for the Stack and Memory Dump windows Dynamic C Dist 8 00Beta2 File Edit Compile Run Ins
340. teger division truncates floating point division does not const int i 18 const j 7 k float x k i j result is 2 x float i j result is 2 591 Chapter 14 Operators 207 Pre or post increment is a unary operator designed primarily for convenience If the precedes an operand the operand is incremented before use If the operator follows an operand the operand is incremented after use int i a 12 i 0 q alit q gets a 0 then i becomes 1 r a lit r gets a 1 then i becomes 2 Ss 441 ibecomes 3 then s i i ibecomes 4 If the operator is used with a pointer the value of the pointer increments by the size of the object in bytes to which it points With operands other than pointers the value increments by 1 Pre or post decrement If the precedes an operand the operand is decremented before use If the operator follows an operand the operand is decremented after use int j a 12 j 12 q al j jbecomes 11 then q gets a 11 r al j jbecomes 10 then r gets a 10 s j s 10 then j becomes 9 j 35 jbecomes 8 If the operator is used with a pointer the value of the pointer decrements by the size of the object in bytes to which it points With operands other than pointers the value decrements by 1 Modulus This is a binary operator The result is the remainder of the left hand operand divided by the right hand operand
341. terals oe 19 23 embedded quotes we 23 Hee oe fei eaa econ 21 continuation in directives 195 nonprinting values 23 Biase ose tga he 38 39 202 basic unit of a C program 24 Special VALUES cscececsecvessdess 23 a Ae en era 202 baud rate oe 103 251 clipboard sess rereeeeecreeesenneeneey 222 Be ad aac ces eseah iene 202 BCDE SEE 153 159 161 closing a file wo ee 22 warnt eee on ca estes tease 202 BeginHeader EEES 39 40 41 CoData Structure ceeee 52 T cecccssssesescsesesesseeee 203 binary operators oo 205 pointer 10 ee EEEE 53 ZIMPOT oasis 203 BIOS vosssnnsnnennsnesceeseeeeeeennaanenesies 6 COFUNCTIONS eee 56 61 RETVAL ooo 160 xexit Setbsaeoes sossssonnnennennceee 125 abandon soos rrerreeeeeceessenneeey 60 SP 155 158 159 160 168 calling premain sossenssnnennees 91 calling restrictions 0 57 GLOBAL INIT o i 185 command line compiler 276 everytime saceotbsetshcastusvtcatyess 60 curly braces ssccccsssssseeee 23 284 l l firsttime E ERA 178 UC OSI sacGsersstacsaiseones 309 compilation environments 293 indexed ENEE SS 58 compile option 304 Single User oo eee 58 A configuration macros 129 SYNTAR tiei epei A R s 56 138 cold loader eee 226 abandon oss eeesseesseeseeeseess esses 169 control blocks 0 136 column resizing eee 267 AMOI E EAT 169 macro definitions 260 communication about Dynamic Co 273 memory location
342. tervalTick 105 66 Dynamic C User s Manual 5 9 5 3 Example 3 This approach is more complicated but will allow you to spend the idle time doing a low priority background task main ine Gime lert long start time torla d prare cine MLCK WIM slice 500 20 slice_a waitfor IntervalTick 80 slice 500 50 slice_b waitfor IntervalTick 105 j tine lerte 75 WOK WIMER Sieewe icles p te bame Vertso 4 slice 500 75 TICK_TIMER start time slice_c 5 10 Summary Although multitasking may actually decrease processor throughput slightly it is an important con cept A controller is often connected to more than one external device A multitasking approach makes it possible to write a program controlling multiple devices without having to think about all the devices at the same time In other words multitasking is an easier way to think about the sys tem Chapter 5 Multitasking with Dynamic C 67 68 Dynamic C User s Manual 6 Debugging with Dynamic C This chapter is intended for anyone debugging Dynamic C programs For the person with little to no experience we offer general debugging strategies in Section 6 3 Both experienced and inexpe rienced Dynamic C users can refer to Section 6 1 to see the full set of tools programs and func tions available for debugging Dynamic C programs Section 6 2 consolidates the information found in the GUI chapter regarding debugging
343. text entry box Click OK or press lt Enter gt to bring up the Function Description window Chapter 15 Graphical User Interface 271 If the cursor is on a function when Help Function Lookup is selected or when lt Ctrl H gt is pressed then the Library Function Lookup dialog is skipped and the Function Description window appears directly ping in E DC 8 LIB TCPIP ICMP LIB Function Description lt ICMP LIB gt SYNTAX int ping longword host longword sequence number KEYWORDS tepip icmp ping DESCRIPTION generate an ICMP request for host NOTE this is a macro which calls _send ping PARAMETER1 ip address to send ping PARAMETER2 user defined sequence number RETURN VALUE O successful 1 failed when sending packet 1 failed because could not resolve host hardware address SEE ALSO _chk_ping _send ping ping c Edit Browse Help Close If you click the Edit button the Function Description window will close and the library that contains the function that was in the window will open in an editor window The cursor will be placed at the function description of interest Clicking on the Browse button will open the Library Function Lookup window to allow you to search for a new function description Multiple Function Description windows may be open at the same time 272 Dynamic C User s Manual Instruction Set Reference Invokes an on line help system and displays the alph
344. th the addition of the struct Pros Cons Uses Example Any valid C expression can be watched Multiple expressions can be watched simultaneously Once a watch is set on an expression its value is updated in the Watches window whenever program execution is stopped The Watches window may be updated while the program is run ning which will affect timing by issuing the Update Watch q Window command use the Inspect menu Ctrl U or the tool bar menu button shown here to update the Watches window You can use flyover hints to find out the value of any highlighted C ex pression when the program is stopped The scope of variables in watch expressions affects the value that is dis played in the Watches window If the variable goes out of scope its true value will not be displayed until it comes back into scope Keep in mind two additional things which are not bad per se but could be if they are used carelessly Assignment statements in a watch expres sion will change the value of a variable every time watches are evaluat ed Similarly when a function call is in a watch expression the function will run every time watches are evaluated Use a watch expression when the value of the expression is important to the behavior of the part of the program you are analyzing Watch expressions can be used to evaluate complicated conditionals A quick way to see this is to run the program Samples pong c Seta breakpoint at th
345. the the value of i con verted to floating point The operators are summarized in the following pages 14 1 Arithmetic Operators Unary plus or binary addition Standard C does not have unary plus Unary plus does not really do anything a b 10 5 binary addition Zz y just for emphasis Unary minus or binary subtraction a b 10 5 binary subtraction Zz y zgets the negative of y 206 Dynamic C User s Manual Indirection or multiplication As a unary operator it indicates indirection When used in a declara tion indicates that the following item is a pointer When used as an indirection operator in an expression provides the value at the address specified by a pointer int p pis a pointer to an integer const int j 45 p amp j _p now points toj k p k gets the value to which p points namely 45 p 25 The integer to which p points gets 25 Same as j 25 since p points to j Beware of using uninitialized pointers Also the indirection operator can be used in complex ways int list 10 array of 10 pointers to integers int list 10 pointer to array of 10 integers float y pointer to a pointer to a float Zz y z gets the value of y typedef char stp stp my_ stuff my_stuff is typed char As a binary operator the indicates multiplication a b c a gets the product of b and c Divide is a binary operator In
346. the big loop in your program It is necessary for proper single user cofunction abandonment handling Example echoes characters main idle serXopen 19200 loweenimaiie 5 while 1 loophead wid c cof serAgetc wid cof serAputc c serAclose 5 5 6 Types of Cofunction Calls A wfd statement makes one of three types of calls to a cofunction 5 5 6 1 First Time Call A first time call happens when a wfd statement calls a cofunction for the first time in that state ment After the first time only the original w d statement can give this cofunction instance con tinuation calls until either the instance is complete or until the instance is given another first time call from a different statement The lifetime of a cofunction instance stretches from a first time call until its terminal call or until its next first time call 5 5 6 2 Continuation Call A continuation call is when a cofunction that has previously yielded is given another chance to run by the enclosing wf d statement These statements can only call the cofunction if it was the last statement to give the cofunction a first time call or a continuation call 5 5 6 3 Terminal Call A terminal call ends with a cofunction returning to its w d statement without yielding to another cofunction This can happen when it reaches the end of the cofunction and does an implicit return when the cofunction does an explicit return or when the cofunct
347. the execution time of the ISR To avoid that the preferred way to set up interrupt vectors is to use the new keyword interrupt vector to set up the vector location at compile time When compiling with separate amp D space modify applications that use Set Vect Intern SetVectExtern2000 or SetVectExtern3000 touse interrupt_vector instead The following code from Samples TIMERB TIMER_ B C illustrates the change that should be made void main 1if __SEPARATE INST DATA interrupt vector timerb intvec timerb isr telse SetVectIntern 0x0B timerb_isr setup ISR endif If interrupt vector is used multiple times for the same interrupt vector the last one encountered by the compiler will override all previous ones interrupt vector is syntactic sugar for using the origin directives and assembly code For example the line interrupt vector timerb intvec timerb isr is equivalent to rcodorg timerb intvec apply asm jp timerb isr endasm rcodorg rootcode resume 166 Dynamic C User s Manual The following table lists the defined interrupt vector names that may be used with interrupt _vector along with their ISRs Table 12 5 Interrupt Vector and ISR Names Interrupt Vector Name ISR Name Default Condition periodic _intvec periodic_isr Fast and nonmodifiable rst10_intvec User defined name User defined rst18_ intvec rst20_ intvec rst28 intvec
348. the function description for fs_ setup in the Dynamic C Function Reference Manual for more information Example Code Using First Flash in FS2 If the target board has two flash memories the following code will cause the file system to use the first flash FSLXnum flashil logical extent number File f struct for file information flashl fs get _other_1x if flashi fs set _1lx flashl flashl fcreate amp f f 10 To obtain the logical extent number for a one flash board fs_get_flash_1x must be called instead of fs get other 1x Chapter 11 The Flash File System 139 11 3 File System API Functions These functions are defined in FS2 LIB For more information please see the Dynamic C Function Reference Manual Table 11 1 FS2 API Command Description fs_setup FS2 Alters the initial default configuration fs init FS2 Initialize the internal data structures for the file system fs format FS2 Initialize flash and the internal data structures lx format Formats a specified logical extent LX fs set_1lx FS2 Sets the default LX numbers for file creation fs get_1lx FS2 Returns the current LX number for file creation fcreate FS2 Creates a file and open it for writing fcreate unused FS2 Creates a file with an unused file number fopen_rd FS2 Opens a file for reading fopen_ wr FS2 Opens a file for
349. the slice statement function normally Only one slice statement can be active at any time which eliminates the possibility of nesting slice statements or using a Slice statement inside a function that is either directly or indi rectly called from a slice statement The only methods supported for leaving a slice state ment are completely executing the last statement in the slice or executing an abort yield or waitfor statement The return continue break and goto statements are not supported Slice statements cannot be used with wC OS II or TCP IP 64 Dynamic C User s Manual 5 9 4 Slice Data Structure Internally the slice statement uses two structures to operate When defining a named slice statement you supply a context buffer as the first argument When you define an unnamed slice statement this structure is allocated by the compiler Internally the context buffer is represented by the SliceBuf fer structure below struct SliceData int time out void my Sp void caller sp CoData codata struct SliceBuffer SliceData slice_data char stack fills rest of the slice buffer 5 9 5 Slice Internals When a slice statement is given control it saves the current context and switches to a context associated with the slice statement After that the driving force behind the slice statement is the timer interrupt Each time the timer interrupt is called it checks to see if a slice statement is active I
350. tical to single step further because you would have to press lt F8 gt thousands of times We will use this statement to illustrate watch expressions 3 1 2 Watch Expression Watch expressions may only be added deleted or updated in run mode To add a watch at expression click on the toolbar button pictured here or press lt Ctrl W gt or choose Add Watch from the Inspect menu The Add Watch Expression popup box will appear Type the lower case letter j and click on either Add or OK The former keeps the popup box open the latter closes it Either way the Watches window appears This is where information on watch expressions will be displayed Now continue single stepping Each time you do the watch expres sion j will be evaluated and printed in the Watches window Note how the value of j advances when the statement j is executed 3 1 3 Breakpoint Move the cursor to the start of the statement for j 0 j3 lt 20000 j To set a breakpoint on this statement press lt F2 gt or select Toggle Breakpoint from the Run menu A red highlight appears on the first character of the statement To get the program running at full speed press lt F9 gt The program will advance until it hits the breakpoint The breakpoint will start flashing both red and green colors Chapter 3 Quick Tutorial 9 To remove the breakpoint press lt F2 gt or select Toggle Breakpoint on the Run menu To continue program execution press lt
351. time library files Complete instructions are available by clicking on the Help button within the utility Encrypt exe Con text sensitive help is accessed by positioning the cursor over the desired subject and hitting lt F1 gt The encrypted library files compile normally but cannot be read with an editor The files will be automatically decrypted during Dynamic C compilation but users of Dynamic C will not be able to see any of the decrypted contents except for function descriptions for which a public interface is given An optional user defined copyright notice is put at the beginning of an encrypted file C 1 3 FAT File System Module The FAT file system module requires Dynamic C 8 51 or later The small footprint of this well defined industry standard file system makes it ideal for embedded systems The standard directory structure allows for monitoring logging Web browsing and FTP updates of data and applications contined in its files C 1 4 pC OS II Module Jean LaBrosse s popular real time kernel This is a preemptive prioritized kernel that allows 63 different tasks flags semaphores mutex semaphores queues and message mail boxes The book MicroC OS I The Real Time Kernel by Jean J Labrosse is included with this module Dynamic C User s Manual 309 C 1 5 SSL Module Secure Sockets Layer SSL is a security protocol that transformsa typical reliable transport proto col such as TCP into a secure communications channe
352. timerb timerb c Example 2 In this example all settings of myproject dcp are used except timer_b c is compiled to timer_b bin instead of to the target and warnings or errors are written to myouputs txt dccl_ cmp samples timerb timer_b c o myoutputs txt b pf myproject Example 3 These examples will compile and run myProgram c with the current settings in default dcp but using different defines displaying up to 50 warnings and capture all output to one file with a header for each run dccl_ cmp myProgram c d MAXCOUNT 99 nw 50 h o myOutput txt dccl_ cmp myProgram c d MAXCOUNT 15 nw 50 h oa myOutput txt dccl_ cmp myProgram c d MAXCOUNT 15 d DEF1 nw 50 h oa myOutput txt The first run could have used the oa option if myOutput txt were known to not initially exist myProgram c presumably uses a constant MAXCOUNT and contains one or more com piler directives that react to whether or not DEF1 is defined 292 Dynamic C User s Manual 17 Project Files In Dynamic C a project is an environment that consists of opened source files a BIOS file avail able libraries and the conditions under which the source files will be compiled Projects allow dif ferent compilation environments to be separately maintained 17 1 Project File Names A project maintains a compilation environment in a file with the extension dcp 17 1 1 Factory dcp The environment originally shipped from the factory is kept in a project file
353. tions Window Help F a a m je ar e Hy Compile to Flash gt EH Compile to RAM ji Compile to Flash Run in RAM ee Reset Target Compile BIOS Ctrl V Compile lt F5 gt Compiles a program and loads it to the target or to a bin file When you press lt F5 gt or select Compile from the Compile menu the active file will be compiled according to the current compiler options Compiler options are set in the Compiler tab of the Project Options dialog When compiling directly to the target Dynamic C queries the attached target for board infor mation and creates macros to automatically configure the BIOS and libraries Any compilation errors are listed in the automatically activated Compiler Messages window Press lt F1 gt to obtain more information for any error message that is highlighted in this win dow Compile to Target Expands to one of three choices They override any BIOS Memory Setting choice made in the Compiler tab of the Project Options dialog e Compile to Flash e Compile to RAM e Comp ile to Flash Run in RAM ee Dynamic C 9 the E DCinProg bios F abbitbios c compiler will show Board 0x1e00 22MHz RCM3600 512K SRAM 512K Flash board type and 1570 lines compiled other board spe cific information while doing a compile to target The information shown will be identical to what the compiler already shows when compiling toa bin file Chapter 15 Graphical User Interface 225
354. titioning the File SYSTEM eitir isir a rE sheets 141 Initial Formatting eee 141 Logical Extents LX 142 Logical Sector Size 143 11 5 File Identifiers 0 eee 143 File Numbers 0 eee eeeeeeeeeee 143 File Names scsssescacchecgiesten 144 11 6 Skeleton Program Using FS2 145 12 Using Assembly Language 00 147 12 1 Mixing Assembly and C 000 147 Embedded Assembly Syntax 147 Embedded C Syntax 0 0 148 Setting Breakpoints in Assembly 148 12 2 Assembler and Preprocessor 149 Comments eee eeeeseeeeeeees 149 Defining Constants 00 0 149 Multiline Macros eee 151 Labels papp ase en ees 151 Special Symbols 00 151 C Variables n se 152 12 3 Stand Alone Assembly Code 153 Stand Alone Assembly Code in Extended Memotry 00 153 Example of Stand Alone Assembly Coden Ersen ni ea 154 Dynamic C User s Manual 12 4 Embedded Assembly Code 154 SWILCD ANE E E E 189 The Stack Frame fallen 154 TYPO Ue Tiss secvievensavtnnetaponetteevenssbonses 189 Embedded Assembly Example a 156 ea aa IOT S S N T sees ian The Disassembled Code Window 157 e S CaeIGMTE Ss Local Variable Access 158 WAP RS iceos chess ao bectobtean cesar reotess 191 12 5 C Calling Assembly ee eee eeeeeeee 159 waitfordone Passing ParameterS c cceesese 159 WPA asperccsectusecrae tae aaevesaenee 191 Location of Return Results aera 159 ue PEENES
355. tivity on the device This ensures that data is written to non volatile storage as soon as possible Buffering may be implemented within the application if possible loss of data is tolerable 11 1 1 Maximum File Size The maximum file size for an individual file depends on the total file system size and the number of files present Each file requires at least two sectors at least one for data and always one for metadata for information used internally There also needs to be two free sectors to allow for moving data around FS2 supports a total of 255 files but storing a large number of small files is not recommended It is much more efficient to have a few large ones i All other code including ISRs is suspended while writing to flash Chapter 11 The Flash File System 135 11 1 2 Two Flash Boards By default when a board has two flash devices Dynamic C will use only the first flash for code The second flash is available for the file system unless the BIOS macro USE_2NDFLASH_CODE has been uncommented This macro allocates the second flash to hold program code The use of USE _2NDFLASH_ CODE is not compatible with FS2 11 1 3 Using SRAM The flash file system can be used with battery backed SRAM Internally RAM is treated like a flash device except that there is no write cycle limitation and access is much faster The file sys tem will work without the battery backup but would of course lose all data when the power went
356. to be large enough for worst case stack usage by the user program and interrupt routines time slice The amount of time in ticks for the slice to run One tick 1 1024 second Chapter 5 Multitasking with Dynamic C 63 name When defining a named slice statement you supply a context buffer as the first argument When you define an unnamed slice statement this structure is allocated by the compiler statement yield abort waitfor expression The body of a slice statement may contain e Regular C statements e yield statements to make an unconditional exit e abort statements to make an execution jump to the very end of the statement e waitfor statements to suspend progress of the slice statement pending some condition indicated by the expression 5 9 2 Usage The slice statement can run both cooperatively and preemptively all in the same framework A slice statement like costatements and cofunctions can suspend its execution with an abort yield or waitfor It can also suspend execution with an implicit yield determined by the time_slice parameter that was passed to it A routine called from the periodic interrupt forms the basis for scheduling slice statements It counts down the ticks and changes the slice statement s context 5 9 3 Restrictions Since a slice statement has its own stack local auto variables and parameters cannot be accessed while in the context of a slice statement Any functions called from
357. to double the amount of logical address space in the base and data segments is enabled on the Compiler tab of the Options Project Options dialog Enabling separate I amp D space doubles the amount of root code and root data available for an application program Decrease DATAORG Root data space can be increased by decreasing DATAORG in Rabbit Bios c in incre ments of 0x1000 At the time of this writing RAM compiles should be done with no less than the default value of DATAORG when separate I amp D space is disabled This restriction is to ensure that the pilot BIOS does not overwrite itself The default is 0x6000 Be aware that decreasing DATAORG reduces the amount of root code space Use xmem for large RAM buffers xalloc can be used to allocate chunks of RAM in extended memory The memory cannot be accessed by a 16 bit pointer so using it can be more difficult The functions xmem2root and root2xmem are available for moving from root to xmem and xmem to root Large buffers used by Dynamic C libraries are already allocated from RAM in extended memory 302 Dynamic C User s Manual Appendix A Macros and Global Variables This appendix contains descriptions of macros and global variables available in Dynamic C This is not an exhaustive list A 1 Compiler Defined Macros The macros in the following table are defined internally Default values are given where applica ble as well as directions for changing values Tab
358. ton will add the given watch expression to the watch list and will leave the Add Watch Expression dialog open so that more watches can be added Clicking the OK button will add the given watch expression to the watch list and close the Add Watch Expression dialog To add a local variable to the Watch window the target controller s program counter PC must point to the function where the local variable is defined If the PC points outside the function an error message will display when Add or OK is pressed stating that the variable is out of scope or not declared An example of the results displayed in the Watches window appears below Watches of x 47 tOxOOZF j int 136 Ox0083 If the evaluation of a watch expression causes a run time exception the exception will be ignored and the value displayed in the Watches window for the watch expression will be unde fined Starting with Dynamic C 9 structure members are displayed whenever a watch expression is set on a struct Prior to Dynamic C 9 separate watch expressions had to be added for each member Introduced in Dynamic C 8 01 the Debug Windows tab of the Environment Options Chapter 15 Graphical User Interface 229 menu lets you set flyover hint evaluation of any expression that can be watched without hav ing to explicitly set the watch expression See Watch on page 265 and Watch Window on page 248 for more details Delete Watch Removes highli
359. u may wish to preserve the data in battery backed RAM on reset The numerous include files found in typical C programs are not used because Dynamic C has a library system that automatically provides function prototypes and similar header information to the compiler before the user s program is compiled This is done via the use directive This is an important topic for users who are writing their own libraries Those users should refer to the Modules section of the language chapter It is important to note that the use directive is a replacement for the include directive and the include directive is not supported When declaring pointers to functions arguments should not be used in the declaration Argu ments may be used when calling functions indirectly via pointer but the compiler will not check the argument list in the call for correctness Bit fields are not supported Separate compilation of different parts of the program is not supported or needed Chapter 2 Introduction to Dynamic C 5 2 3 Dynamic C Differences Between Rabbit and Z180 A major difference in the way Dynamic C interacts with a Rabbit based board compared to a Z180 or 386EX board is that Dynamic C expects no BIOS kernel to be present on the target when it starts up Dynamic C stores the BIOS kernel as a C source file Dynamic C compiles and loads it to the Rabbit target when it starts This is accomplished using the Rabbit CPU s bootstrap mode and a speci
360. ugh the costatement The diagram on the right shows that when the execution thread again reaches the costatement the only statement executed is the waitfor As long as the waitfor con tinues to evaluate to false it will be the only statement executed within the costatement gml statement statement statement statement costate waitfor EG costate statement statement statement statement N gt waitfor ee a a b Subsequent Times y E a First Time Figure 5 2 Execution thread when waitfor evaluates to false Figure 5 3 shows the execution thread through a costatement when a waitfor evaluates to true y I costate statement statement gt waitfor statement statement Y Figure 5 3 Executioin thread when waitfor evaluates to true 50 Dynamic C User s Manual yield The yield statement makes an unconditional exit from a costatement or a cofunction Execu tion continues at the statement following yield the next time the costatement or cofunction is encountered by the execution thread y costate statement statement yield statement statement age sad we RK costate statement statement yield gt statement statement b Execution thread the next time the costate is encountered a Execution of yield
361. ule Body Every line of code after the EndHeader comment belongs to the body of the module until 1 end of file or 2 the BeginHeader comment of another module Dynamic C compiles the entire body of a module if any of the names in the key or header are referenced anywhere in the application So keep modules small don t put all the functions in a library into one module If you look at the Dynamic C libraries you Il notice that many modules consist of one function This saves on code size because only the functions that are called are actually compiled into the appli cation To further minimize waste define code and data only in the body of a module It is recommended that a module header contain only prototypes and extern declarations because they do not gen erate any code by themselves That way the compiler will generate code or allocate data only if the module is used by the application program 4 23 2 Module Sample Code There are many examples of modules in the Lib directory of Dynamic C The following code will illustrate proper module syntax and show the scope of directives functions and variables BeginHeader ticks extern unsigned long ticks EndHeader unsigned long ticks BeginHeader Get Ticks unsigned long Get Ticks EndHeader unsigned long Get Ticks BeginHeader Inc Ticks VOLC Line Waleles aliaic a EndHeader asm Tie WalCleis or a ipset
362. ult GUI Equivalent Example Compile using a file found in LibrariesFilePathname which lists all librar ies to be made available to your programs Lib dir This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check the box under User Defined Lib Directory File and then fill in the path name for the new Lib dir dccl_cmp myProgram c lf MyPath MyLibs txt ne maxNumberOfErrors Description Factory Default GUI Equivalent Example Change the maximum number of errors reported A maximum of 10 errors are reported Enter the maximum number of errors to report under Max Shown in the Project Options Compiler dialog box Allows up to 25 errors to be reported dccl_ cmp myProgram c ne 25 nw maxNumberOfWarnings Description Factory Default GUI Equivalent Example Change the maximum number of warnings reported A maximum of 10 warnings are reported Enter the maximum number of warnings to report under Max Shown in the Project Options Compiler dialog box Allows up to 50 warnings to be reported dccl_ cmp myProgram c nw 50 Chapter 16 Command Line Interface 287 o OutputFilePathname Description Factory Default GUI Equivalent Example Write header information if specified with h and all program errors warnings and outputs to a text file If the text file does not exist it wi
363. unction at a time Do not wait until you are finished with your implementation before you attempt to compile and run it unless it is a very short application After a program is compiled other types of bugs have a chance to reveal themselves The rest of this section concentrates on how to find a bug 6 3 2 1 Reproduce the Problem Keep an open mind It might not be a bug in the software you might have a bad cable connection or something along those lines Check and eliminate the easy things first If you are reasonably sure that your hardware is in good working order then it is time to debug the software Some bugs are consistent and are easy to reproduce which means it will be easier to gather the information needed to solve the problem Other bugs are more elusive They might seem random happening only on Wednesdays or some other seemingly bizarre behavior There are a number of reasons why a bug may be intermittent Here are some common one e Memory corruption uninitialized or incorrectly initialized pointers buffer overflow Stack overflow underflow e ISR modifying but not saving infrequently used register e Interrupt latency Other borderline timing issues e EMI One of the difficulties of debugging is that the source of a bug and its effect may not appear closely related in the code For example if an array goes out of bounds and corrupts memory it may not be a problem until much later when the corrupted memory is ac
364. unction has only one instance and is similar to a regular function with a costate taking up most of the function s body 5 5 5 2 Indexed Cofunction An indexed cofunction allows the body of a cofunction to be called more than once with different parameters and local variables The parameters and the local variable that are not declared static have a special lifetime that begins at a first time call of a cofunction instance and ends when the last curly brace of the cofunction is reached or when an abort or return is encountered The indexed cofunction call is a cross between an array access and a normal function call where the array access selects the specific instance to be run Typically this type of cofunction is used in a situation where N identical units need to be con trolled by the same algorithm For example a program to control the door latches in a building could use indexed cofunctions The same cofunction code would read the key pad at each door compare the passcode to the approved list and operate the door latch If there are 25 doors in the building then the indexed cofunction would use an index ranging from 0 to 24 to keep track of which door is currently being tested An indexed cofunction has an index similar to an array index waitfordone ICofunc n ICofunc2 m The value between the square brackets must be positive and less than the maximum number of instances for that cofunction There is no runtime checki
365. user code when separate I amp D space is enabled Default Compile Mode One of the following options will be used when Compile Compile is selected from the main menu of Dynamic C or when the keyboard shortcut lt F5 gt is used The set ting shown here may be overridden by choosing a different option in the Compile menu e Compile to attached target a program is compiled and loaded to the attached target e Compile defined target configuration to bin file a program is compiled and the image written to a bin file The target configuration used in the compile is taken from the parameters specified in Options Project Options The Target less tab allows you to choose an already defined board type or you may define one of your own e Compile to bin file using attached target a program is compiled and the image written toa bin file using the parameters of the attached controller In line I O If checked the built in I O functions WrPortI RdPortI BitWrPortI and BitRdPortI will have efficient inline code generated instead of function calls if all arguments are constants with the exception of the 3rd parameter of BitWrPortI and WrPortI which may be any valid expression If this box is checked but a call to one of the aforementioned functions is made with non constant arguments with the exception of the 3rd parameter for the 2 write functions then a normal function call is generated Advanced Button Click o
366. witch case statement described in the next section The break statement jumps out of the innermost control structure loop or switch statement only Chapter 4 Language 33 There will be times when break is insufficient The program will need to either jump out more than one level of nesting or there will be a choice of destinations when jumping out Use a goto statement in such cases For example while some statements for 2 0 i lt n i9 4 some statements if cond RED goto yyy some statements if code BLUE goto marp more statements YYY handle cond_RED ZZZ handle code BLUE 4 18 3 Branching The goto statement is the simplest form of a branching statement Coupled with a statement label it simply transfers program control to the labeled statement some statements abc other statements goto abc more statements goto def def more statements The colon at the end of the labels is required In general the use of the goto statement is discour aged in structured programming The next simplest form of branching is the if statement The simple form of the if statement tests a condition and executes a statement or compound statement if the condition expression is true non zero The program will ignore the if body when the condition is false zero if expression some statement s 34 Dynamic C User s Manual A more complex form of the if statement tests the condition and executes certa
367. writing and reading fshift Removes specified number of bytes from beginning of file fwrite FS2 Writes to a file starting at current position fread FS2 Reads from the current file pointer fseek FS2 Moves the read write pointer ftell FS2 Returns the current offset of the file pointer fs_sync FS2 Flushes any buffers retained in RAM to the underlying hardware device fflush FS2 Flushes buffers retained in RAM and associated with the specified file to the underlying hardware device fs_ get _flash_1x FS2 Returns the LX number of the preferred flash device the 2nd flash if available fs get 1x size FS2 Returns the number of bytes of the specified LX fs get other 1x FS2 Returns LX of the non preferred flash usually the first flash fs get _ram_ 1x FS2 Return the LX number of the RAM file system device fclose Closes a file fdelete FS2 Deletes a file 140 Dynamic C User s Manual 11 3 1 FS2 API Error Codes The library ERRNO LIB contains a list of all possible error codes returnable by the FS2 API These error codes mostly conform to POSIX standards If the return value indicates an error then the global variable errno may be examined to determine a more specific reason for the failure The possible errno codes returned from each function are documented with the function 11 4 Setting up
368. y they are accessed through INTVEC_BASE lt vector offset gt or XINTVEC_BASE lt vector offset gt The values for lt vector offset gt are defined in sysio 1ib and are listed here for convenience Table 12 3 Internal Interrupts and their offset from INTVEC_BASE PERIODIC OFS SERA_OFS RST10_OFS SERB OFS RST18_OFS SERC_OFS RST20_OFS SERD OFS RST28_ OFS SERE_OFS RST38_OFS SERF_OFS SLAVE OFS QUAD OFS TIMERA OFS INPUTCAP OFS TIMERB OFS Table 12 4 External Interrupts and their offset from XINTVEC_BASE EXTO OFS EXT1_OFS Chapter 12 Using Assembly Language 163 The following example from RS232 LIB illustrates the new I amp D space compatible way of mod ifying interrupt vectors The following code fragment to set up the interrupt service routine for the periodic interrupt from Dynamic C 7 25 is not compatible with separate I amp D space asm xmem Old method ld a iir get the offset of interrupt table ld h a ld 1 0x00 ld iy hl ld iy 0c3h Jp instruction entry inc iy ld hl periodic_isr set service routine ld iy hl endasm The following code fragment shows an I amp D space compatible method for setting up the ISR for the periodic interrupt in Dynamic C 7 30 asm xmem New method ld a 0xc3 jp instruction entry ld hl periodic _isr set service routine ld INTVEC_BASE PERIODIC OFS a write to the interrupt table ld INTV
369. y one thread per forms calls to the file system or implement locking around each call When using uC OS II FS2 must be initialized first that is fs init must be called before OSInit in the application code 136 Dynamic C User s Manual 11 2 Application Requirements Application requirements for using FS2 are covered in this section including e which library to use e which drivers to use e defaults and descriptions for configuration macros e detailed instructions for using the first flash 11 2 1 Library Requirements The file system library must be compiled with the application use FS2 LIB For the simplest applications this is all that is necessary for configuration For more complex applications there are several other macro definitions that may be used before the inclusion of FS2 LIB These are define FS MAX DEVICES 3 define FS MAX LX 4 define FS MAX FILES 10 These specify certain static array sizes that allow control over the amount of root data space taken by FS2 If you are using only one flash device and possibly battery backed RAM and are not using partitions then there is no need to set FS_ MAX DEVICES or FS_ MAX LX For more information on partitioning please see section 11 4 Setting up and Partitioning the File System on page 141 11 2 2 FS2 Configuration Macros FS MAX DEVICES This macro defines the maximum physical media If it is not defined in the program code FS_ M
370. y the default handler A custom error handler can also be used to change how existing run time errors are handled For example the floating point math libraries included with Dynamic C are written to allow for execu tion to continue after a domain or range error but the default error handler halts with a run time error if that state occurs If continued execution is desired the function in question would return a value of INF or whatever value is appropriate then a simple error handler could be written to pass execution back to the program when a domain or range error occurs and pass any other run time errors to Dynamic C 9 2 1 Replacing the Default Handler To tell the BIOS to use a custom error handler call this function void defineErrorHandler void errfcn This function sets the BIOS function pointer for run time errors to the one passed to it When a run time error occurs exception pushes onto the stack the information detailed in the table below Table 9 3 Stack setup for run time errors Address Data at address SP 0 Return address for error handler SP 2 Error code SP 4 Additional data user defined XPC when exception was called upper SP 6 byte SP 8 Address where exception was called from Then exception calls the installed error handler If the error handler passes the run time error to Dynamic C i e it is a fatal error and the system needs to be halted or reset then regist
371. ynamic C User s Manual v SP Sa A neleset alee SS da E ean cena i essesosesosososesessososososososesessssososesosose REEE AA 14 3 Bitwise Operators eee EAT E E E E OE ia gt o E E S ae BAS e ERE RAE E AEE EE A EEO SE E AAE EE EEN ET E EET 14 4 Relational Operators Se R Steines Sai a E ne ae Doria e ta iee sen atte eed Dai sche iaau ina ata as 14 5 Equality Operators eee AE E Mba ia oie Nae 14 6 Logical Operators eee BESO sts oO el okt antes ile eee I areari E een eor TEE nE eE E arses E EE E A ae ke 14 7 Postfix Expressions eecceeeeeeeee EE a E AS A E AEE RECETO A EEE A shes EERE T 14 8 Reference Dereference Operators EE N E TR E E EPEE EEE E EE AL EENEN 14 9 Conditional Operators 0 9 14 10 Other Operators 00 eee eee CTYPE no sick oak ieee SIZEOL sssri sips esscdecoctsshyscssesegeessons 15 Graphical User Interface ee ISI Gite vs oes fee vascicesestee tenis estesabtes e720 lt 7 1 Lee ee File Men sienne Edit Men eninin a Compile Menu eee R n Men er er eden Inspect Menu cee eeeeeseeeeeeeees Options Menu eee Environment Options Editor Tab ee Gutter amp Margin Tab Display Tab ce eeeeeeeee Syntax Colors Tab Code Templates Tab Debug Windows Tab Print Alerts Tab 0 209 210 210 210 210 210 210 210 211 211 211 211 211 211 212 212 212 212 212 213
372. ystem a programmer given a real time programming problem that involves running separate tasks on different time scales will often come up with a solution that can be described as a big loop driving state machines y Top of loop Y State machine State machine State machine Figure 5 1 Big Loop This means that the program consists of a large endless loop a big loop Within the loop tasks are accomplished by small fragments of a program that cycle through a series of states The state is typically encoded as numerical values in C variables Chapter 5 Multitasking with Dynamic C 45 State machines can become quite complicated involving a large number of state variables and a large number of states The advantage of the state machine is that it avoids busy waiting which is waiting in a loop until a condition is satisfied In this way one big loop can service a large number of state machines each performing its own task and no one is busy waiting The cooperative multitasking language extensions added to Dynamic C use the big loop and state machine concept but C code is used to implement the state machine rather than C variables The state of a task is remembered by a statement pointer that records the place where execution of the block of statements has been paused to wait for an event To multitask using Dynamic C language extensions most applicatio

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