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Dynamic C User`s Manual (349 pages)

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 3 Combined transmit receive 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 ie multiplied by 300 Set baud factor byte 2 MSB The actual baud rate is the baud factor 5 qe 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 9 error 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 The Slave Port Driver rabbit com 103 Table 8 4 Commands that the master can send to the slave Command Command Description 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 wr
2. Multitasking with Dynamic C rabbit com 43 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 cofunctions Exe cuting 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 exe cuting last If an abort takes place k is set to 1 2 n to indicate which cofunction caused the abort 5 5 2 1 Cofunctions and Return Statements More than one return statement in a cofunction will result in unpredictable behavior 5 5 2 2 Costate Within a Cofunc In all but trivial cases where the costate is really not necessary a costate within a cofunc causes execu tion problems ranging from never completing the cofunc to unexpected interrupts or target lockups To avoid these problems do not introduce costates with nested wfd cofuncs into a cofunc If you find yourself coding such a thing consider these alternatives 1 Intermediate regular functions can be used between the cofuncs to isolate them 2 A regular wait for function can be substituted for the top level costate s wf d cofunction 3 The nested costates with wfd c
3. 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 Using Assembly Language rabbit com 176 13 3 3 The Stack Frame The purpose and structure of a stack frame should be understood before writing embedded assembly 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 13 3 3 1 Stack Frame Diagram Figure 13 1 shows the general appearance of a stack frame Figure 13 1 Assembly Code Stack Frame Stack Frame Last Auto Variable Optional Frame Reference Point Optional Return Address First Parameter pushed last Optional 4 Lower Addresses Last Parameter stack grows down pushed first i Structure Ret Optional k Higher Addresses 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 mark temporarily because of temporary information pushed on the stack
4. cis a constant integer variable stored in xmem on the flash device const far int cptr 0x1234 NOTE The default storage class is auto so any of the above code not explic itly marked as static or auto and not a pointer to far would have to be outside of a function or would have to be explicitly set to static Keywords rabbit com 199 firsttime The keyword 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 prototype but only in the function body parameter list The compiler generates the code to automatically 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 unsigned 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 1
5. Right shift assignment a gt gt 5 Shift a right 5 bits Same as a a gt gt 5 Operators rabbit com 229 amp Bitwise AND assignment a amp b AND a with b Same asa a amp b Aa Bitwise XOR assignment a b XOR a with b Same asa a b Bitwise OR assignment a b ORawith b Same asa alb 15 3 Bitwise Operators lt lt Shift left This is a binary operator The result is the value of the left operand shifted by the number of bits specified by the right operand int i OxFOOF j i lt lt 4 j gets 0x00FO The most significant bits of the operand are lost the vacated bits become zero gt gt Shift right This is a binary operator The result is the value of the left operand shifted by the number 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 variables and are sign extended for signed variables Operators rabbit com 230 amp 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 Ox0FFF z i1i6 amp j z gets OxOFFO Aa Bitwise exclusive OR A binary oper
6. cccccccecesssseeeeeeeees 142 Wwitinga file ssc srsecroiimirssris 141 XD Card ee OOo ckesee eed 165 uC OS II compatibility oe 165 fat_part_mounted 0 eee eeeeeeeeceeeeeees 155 FAT_USE_FORWARDSLASH 151 file attributes 0 eee ccecessceececesseaeeeeceessaees 144 COMMANGS anann KETE 243 COMPTESSION scscseeeeseerssveseteereseeseopescey 332 CEE sei es ilocos iene 141 extensions 0 cccececeeesesececeecsesseeeecesenes 249 generated eves cilieiee eset 249 OPE sitesi E tenes beriedees 141 151 PDE session aT ENE 244 wad ren iee RSi 142 152 SEEK a 153 SUAS TAE EA A E A A 146 WIG kiosa EE 141 152 files additional source cecseeseeceseseeeeceeee 26 Find Next lt F3 gt snoessseeeeseeseresssseseeseseee 246 firstime senenn E a NSn 200 flags Tegister oo cccesesscesecpnssisscnnsosscnestavessds 295 flash XMEM ACCESS 0 eceeeceeeeceeeesesesesesesseneees 129 HO at serah weheshe wet eae 200 213 LOE LOOP srren essor nea 201 frame reference point oe iscissi 183 reference pointer 180 182 204 320 function AUTO Variables cceccccecesssseseecesseaees 191 CALS sieciami 177 183 calls from assembly 0 00 eee 184 CHAINS 0 ecccesssecececeesesecesceeseeeeees 24 207 Create Chains viscera 221 entry and exit oc cccasssessceeasessessenaseeresosy 320 headers oree etc elena eres 32 Kelp scrieure a a e 32 mdirect call oss eee Gas 22 PEOLOLYPES ssisccesseeeseteestevsrsneneedeiesseses
7. loophead Le G5 costate wta SCofTestili first caller costate wfd SCofTest 2 second caller In this example two tasks in main are requesting access to SCofTest The first request is honored and the second request is held When 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 Multitasking with Dynamic C rabbit com 47 5 5 8 Solving the Real Time Problem with Cofunctions Cofunctions with their ability to receive arguments and return values provide more flexibility and speci ficity than our previous solutions fOr eZ costate i task 1 wid emergencystop for i 0 i lt MAX_DEVICES i wfd turnoffdevice i costate task2 wid x buttonpushed wid turnondevice x waitfor DelaySec 60L wid turnoffdevice x eoatavel ae taskn Using cofunctions new machines can be added with only trivial code changes Making buttonpushed acofunction allows more specificity because the value returned can indicate a partic ular 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 trans mit a string of characters
8. costate 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 fre quency of the routine and the time it takes to execute comprise the granularity of the routine If the routine executes every 25 milliseconds and the entire group of costatements executes in 5 to 10 mil liseconds 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 varia tion in delay The consequences of such variations in the time between steps depends on the program s objective Sup pose that the typical delay between an event and the controller s response to the event is 25 ms but under unusual circumstances the delay may reach 50 ms An occasional slow response may have no conse quences 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
9. re fat_Read emy tile buf sizeof buf wie ice lt 0 4 printf Witere_IReacl failed with return code d n ro else Rime VReacl Sel loycese a ie p printf s rc rc buf Printa string which is not NULL terminated paare 7 im p fat_UnmountDevice first_part gt dev princi MALL OK ya y iene wie O FAT File System rabbit com 140 The call to fat_Open creates a file in the root directory and names it HELLO TXT A file must be opened before you can write or read it re fat_Open first_part HELLO TXT FAT_FILE FAT_CREATE amp my_file amp prealloc The parameters are as follows e first_part points to the partition structure initialized by fat_AutoMount e HELLO TXT is the file name and is always an absolute path name relative to the root directory All paths in Dynamic C must specify the full directory path explicitly e FAT_FILE identifies the type of object in this case a file Use FAT_DIR to open a directory e FAT_CREATE creates the file if it does not exist If the file does exist it will be opened and the posi tion pointer will be set to the start of the file If you write to the file without moving the position pointer you will overwrite existing data Use FAT_OPEN instead of FAT_CREATE if the file or directory should already exist If the file does not
10. EEOF filestate 0 break printf fat Read ro sdin rol while rc fat_UnmountDevice first_part gt dev EBUSY return rc HLE PER LEOUIA reg end of inner while loop if filestate printi Yge our readto REC_LEN end of outer while loop The other costatement in the endless while loop is the one that blinks the LED It illustrates that while using the file system in non blocking mode there is still plenty of time for other tasks FAT File System rabbit com 148 12 4 FAT Operations 12 4 1 Format and Partition the Device The flash device must be formatted before its first use Formatting it after its first use may destroy infor mation previously placed on it 12 4 1 1 Default Partitioning As a convenience Samples FileSystem Fmt_Device c is provided to format the flash device This program can format individual FAT 12 16 partitions or can format all FAT 12 16 partitions found on a device If no FAT 12 16 partitions are found it offers the option of erasing the entire device and format ting it with a single FAT 16 partition Be aware that this will destroy any data on the device including that contained on FAT 32 partitions This is an easy way to format new media that may contain an empty FAT32 partition spanning the entire device such as a new SD or XD card After the device has been formatted with Fmt __Device c an application that wants to use the FAT fil
11. The shaded area in the stack frame is the stack storage allocated for auto variables The assembler sym bol SP represents the size of this area 13 3 3 2 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 previous value is pushed on the stack after the function s return address The frame reference point moves to encompass the saved IX value Using Assembly Language rabbit com 177 13 3 4 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 yold fume char Ga int i long Ie main charmen iLiaic L long Lez ca Oxi ile i Ox2233 8 lg 0x44556677L iEUine Cla i Le 2 WOLGE tune elaaie cli aime a Lome ile auto ine lt AUCO Lime we x 0x8888 Z Ox9999 asm This is equivalent to the C statement x 0x8888 ld hl 0x8888 ld sp SP x hl lel lal 09999 lel 2ptCSPtz NI This is equivalent to the C statement z 0x9999 SP i gives the offset of i from the stack frame on entry On the
12. Information By Stdio 1 C DEMO1 C smell Be 2 Stack Trace S ba i 3 Stdio aa 38 Stack Trace Alt F12 _ _ 6 Add Edit Hardware Breakpoints Shift Ctrl F2 The Debug Windows option opens a secondary menu whose items are toggles for displaying the like named debug windows You can scroll these windows to view larger portions 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 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 evalu ates watch expressions 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 Keep in mind that when single stepping in assembly the value of the watch expression may not be valid for variables located on the stack all auto variables This is because the debug kernel does not keep track of the pushes and pops that occur on the stack and since watches of stack variables only make sense in the context of the pushes and pops that have happened they will not al
13. ce ceeeeeeeeeeeeereeees 95 Voldi giagia oaa E E E 214 Volat lE eerie en e EAE 215 W WAOE eriei E A e EE EST 212 waitfordone seseseesesseseeeessrsersereeeresereee 212 Warning reports essssseeessssreeesreesrereereeee 278 watch expressions add or delete se sisssssrsirseseeseseusesevsesers 253 enable sits ai an i A aa 283 watch menu Option sessseesseeeseeeeeeeeee 292 Watch window eeessceneeeeeeeeneeeeeeees 254 WINDOW sscdscieacesesdvavncesisteiesctesgeeee Sueeaens 290 watchdog timers 0 eee ee ee eeeeeeeeeeeeees 95 watchdogs Virtual eee eee eee eee 95 Wid sissies E EE 212 WUC A E T T 213 wildcard mask eee eeceeeeceseeeseceeeeeeeees 27 windows assembly cis csssscectevsctsisesdscsssccesaes 179 293 cascaded sienose sits 290 information eeceesececeeeseeeees 290 295 MESSAZE scdssccssedcasccessccedtdesocesscsestuessacins 290 Index rabbit com 349
14. 18 3 Menu Selections The menu selections for project files are available in the File menu The choices are the familiar ones Cre ate Open Save Save As and Close Choosing File Project Open 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 ac
15. 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 Options dialog otherwise stepping is done by C statement regardless of the status of the Assembly window If you have checked Enable instruction level single stepping but wish to continue to step by C statement when the Assembly window is open use Alt F7 or Alt F8 instead of F7 or F8 Dynamic C User s Manual rabbit com 76 6 2 6 Watch Expressions The watch expressions feature applies to any valid C expression It is possible to evaluate watchable expressions using flyover hints The highlighted expression does not need to be set as a watch expression for evaluation in a flyover hint When a structure is set as a watch expression all of its memebers are set automatically as watch expressions Pros Cons Uses Example Any valid C expression can be watched Multiple expressions can be watched si multaneously 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 running which will af fect timing by issuing the Update Watch Window command use the Inspect menu Ctrl U or the toolbar menu button shown here to update the Watches win dow You can use flyover hints to find out the v
16. The function VdGetFreeWd count allocates and initializes a virtual watchdog The return value of this function is the ID of the virtual watchdog If an attempt is made to allocate more than 10 virtual WDTrs 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 VaGet FreeWd is used as the argument when calling VaHitWd ID to hit a vir tual 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 VdHitWd ID to prevent this If count 2 for a particular WDT then VdHitWd ID will need to be called within 62 5 ms for that WDT If count 255 VAHit Wd 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 7 5 Preemptive Multitasking Drivers A simple scheduler for Dynamic C s preemptive slice statement is serviced by the Virtual Driver The scheduling for uC 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 OS II must not be used in the same program The Virtual Drive
17. d RandomNumberTask void pdata 2 Declare semaphore global so all tasks have access OS_ vol vol EVENT RandomSem d main int i 3 Initialize OS internals OSInit for i 0 i lt OS_MAX TASKS i 4 Create each of the system tasks OSTaskCreate RandomNumberTask NULL 512 i 5 semaphore to control access to random number generator RandomSem OSSemCreate 1 6 Begin multitasking OSStart d RandomNumberTask void pdata OS_TCB data INT8U err INT16U RNum OSTaskQuery OS_PRIO_SELF amp data while 1 Rand is not reentrant so access must be controlled via a semaphore OSSemPend RandomSem 0 amp err RNum int rand 100 OSSemPost RandomSem printf Task d s random d n data OSTCBPrio RNum Wait 3 seconds in order to view output from each task OSTimeDlySec 3 Multitasking with Dynamic C rabbit com 65 Example 2 This application runs exactly the same code as Example 1 except that each of the tasks are created with 1024 byte stacks The main difference between the two is the configuration of wC OS IL First each configuration constant that differs from the library default is defined The configuration in this example differs from the default in that it allows only two events the minimum needed when using only one semaphore 20 tasks no queues no mailboxes and the syst
18. 7 3 2 Example Delay Loop An important detail about MS_ TIMER is that it overflows rolls over approximately every 49 days 17 hours This behavior causes the following delay loop code to fail THIS CODE WILL FAIL endtime MS_TIMER delay while MS_TIMER lt endtime do something If MS_TIMER delay overflows this returns immediately The correct way to code the delay loop so that an overflow of MS_ TIMER does not break it is this endtime MS_TIMER delay while long MS_TIMER endtime lt 0 do something The interval defined by the subtraction is always correct This is true because the value of the interval is based on the values of MS_ TIMER and endtime relative to one another so the actual value of these vari able does not matter One way to conceptualize why the second code snippet is always correct is to consider a number circle like the one in Figure 7 1 In this example delay 5 Notice that the value chosen for MS_TIMER will roll over but that it is only when MS_ TIMER equals or is greater than endtime that the while loop will eval uate to false Figure 7 1 delay 5 MS_TIMER Another important point to consider is that the interval is cast to a signed number which means that any number with the high bit set is negative This is necessary in order for the interval to be less than ze
19. Dynamic C Integrated C Development System For Rabbit 4000 and 5000 Microprocessors User s Manual 019 0167_D The latest revision of this manual is available on the Rabbit Web site www rabbit com Dynamic C User s Manual Part Number 019 0167 Printed in the U S A Digi International Inc 2010 All rights reserved Digi International Inc reserves the right to make changes and improvements to its products without providing notice Trademarks Rabbit and Dynamic C are registered trademarks of Digi International Inc Windows is a registered trademark of Microsoft Corporation RABBI TE Table of Contents 1 Installing Dynamic C 0 eects 8 5 2 1 Solving the Real Time Problem 1 1 Requirements cccceeseeeeeeseeseeeeeteeeeeees 8 with a State Machine c eee 35 1 2 ASSUMPTIONS scssi s rsrsr ee 8 5 3 Costatement 0 0 eeeceeeeceeseceeecereeeneeeees 35 2 Introduction to Dynamic C eee 9 oo is o Nati ala Popes 36 2 1 The Nature of Dynamic Cu eee 9 5 3 2 Costatement Sea erates 36 esi a i 5 3 3 Control Statements scsccseneren 37 S a Gi a 5 4 Advanced Costatement Topics 39 oD Dynan eaten en tenes 5 4 1 The CoData Structure oo 39 10 5 4 2 CoData Fields cc eeeeeeeeeeeeees 40 3 lt Quick Tutorial senenn ana 12 5 4 3 Pointer to CoData Structure 41 3 1 R n DEMOL C 2 eee eeeeeneeeeeeeeeeeeneees 13 5 4 4 Functions for Use With Named 3 1 1 Single
20. If MAX_UDP_SOCKET_BUF FERS is not defined in the application program it will be defined as 1 if USE_DHCP is defined or 0 otherwise For more information about TCP IP please see the Dynamic C TCP IP User s Manual Volumes I and 2 available online at www rabbit com 5 10 6 Debugging Tips Single stepping may be limited to the currently running task by using the F8 key Step over If the task is suspended single stepping will also be suspended When the task is put back in a running state single stepping will continue at the statement following the statement that suspended execution of the task Pressing the F7 key Trace into at a statement that suspends execution of the current task will cause the program to step into the next active task that has debug information It may be useful to put a watch on the global variable OSPrioCur to see which task is currently running For example if the current task is going to call OSSemPend ona semaphore that is not in the signaled state the task will be suspended and other tasks will run If F8 is pressed at the statement that calls OSSemPend the debugger will not single step in the other running tasks that have debug information single stepping will continue at the statement following the call to OSSemPend If F7 is pressed at the statement that calls OSSemPend _ instead of F8 the debugger will single step in the next task with debug information that is put into the running sta
21. 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 can be printed To print the contents of debug windows the text must be copied and pasted to an editor win dow The Stdio window is an exception its contents may be automatically written to a file which may then be printed As many copies of the text as needed may be printed If more than one copy is requested the pages may be collated or uncollated Exit lt Alt F4 gt Close Dynamic C after prompting to save any unsaved changes to open files Graphical User Interface rabbit com 244 16 3 Edit Menu Click the menu title or press lt Alt E gt to select the EDIT menu Undo lt Cirl Z gt f Dynamic C Dist 10 40 f Sass aime This option undoes recent changes in the active edit window File Edit Compile Run Inspect Optior The command may be repeated several times to undo multi E Undo Ctrl z ple changes Undo operations have unlimited dept
22. Use the first mounted FAT partition ce tac AveoMetine EIDDE_USH_IDIAUIL I F Flest parc NULik for i 0 i lt num_fat_devices FAT_MAX PARTITIONS i Find the first mounted partition bee Stipa rti iEKE_joeuctc_imowlinieSel aj Y INU 4 break Found mounted partition so use it if first_part NULL Check if mounted partition was found Ge 7e lt 0 P we 3 SHNOPARTs None found set rc to a FAT error code elsef printf fat_AutoMount succeeded with return code d n rc re 0 Found partition ignore error if any Le re lt O 4 negative values indicate error if rc EUNFORMAT printf Device not Formatted Please run Fmt_Device c n else joven Trac _AuicoMiowme Tailed with return code Se a ro exit 1 OK file system exists and is ready to access Let s create a file FAT File System rabbit com 137 The first two statements define FAT BLOCK t se fat lib cause the FAT library to be used in blocking mode The configuration library fat lib chooses initialization settings based on the board type The statement use fat 1lib brings in this configuration library which in turn brings in the appropriate device driver library The following table lists the device drivers that are available in the different FAT versions Table 1 FAT Version Available Device Drivers sflash
23. endless loop First task will print the seconds elapsed 2 costare secs increment counter 3 waitfor DelayMs 1000 wait one second princi Sel seconden SEES p print elapsed seconds 4 Second task will check if any keys have been pressed GCostate 4 5 de konic O abort key been pressed primei Y key pressed Se m Getehar Jz 6 end of while loop end of main Quick Tutorial rabbit com 16 The numbers in the left margin are reference indicators and not part of the code Load and run the pro gram 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 marked 2 Costatements need to be executed regularly often at least every 25 ms To accomplish this the costatements 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 waitfor condition is encountered the first time the current 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 beginn
24. ically make the device unusable with PC readers The sample program FAT_Write_MBR c is distributed with FAT version 2 13 It is also compatible with FAT versions 2 01 2 05 and 2 10 If you have one of these earlier versions of the FAT and would like a copy of FAT_Write_MBR c please contact Technical Support either by email to support rabbitsemi conductor com or by using the online form www rabbit com support questionSubmit shtml There is a way to create multiple partitions without using the utility FAT_Write_MBR c this auxiliary method is explained in Section 12 5 3 5 FAT File System rabbit com 149 12 4 1 3 Preserving Existing Partitions If the flash device already has a valid partition that you want to keep you must know where it is so you can fit the FAT partition onto the device This requires searching the partition table for both available parti tions and available space An available partition has the part secsize field of its mor_part entry equal to zero Look in lib RCM3300 RemoteApplicationUpdate downloadmanager 1ib for the function dlm_initserialflash for an example of searching through the partition table for avail able partitions and space See the next section for more information on the download manager DLM and how to set up coexisting partitions 12 4 1 4 FAT and DLM Partitions The RabbitCore RCM3300 comes with a download manager utility that creates a partition on a serial flash device
25. 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 keyword must be used when separate I amp D space is enabled For example this won t work correctly without const asm const label db Ox5Sa endasm main asm ld a label ld 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 chy 0x0123 OxEEET XYZ This example defines three constants The first two constants are literals and the third constant is the address of variable xyz The numerical values initialize sequential word locations starting at the current code address Using Assembly Language rabbit com 172 13 2 3 Multiline Macros The Dynamic C preprocessor has a special feature to allow multiline macros in assembly code The pre processor 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 b S push af pop be asm lel 9 0232 SAVEFLAG endasm 13 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
26. 00100000 New Register Value Ctrl Alt N 9001205c 00012058 Switch to History View Ctrl Alt H 0001205C FEFF8435 5828116A Ad261569 S08B64F1 DEES E830 LXPC 000 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 LXPC registers New Register Value l omes The option New Register Value will bring up a dialog to enter the new register value Hex values must have 0x prepended to the value Values without 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 history view Ctrl Alt H Graphical User Interface rabbit com 270 Memory Dump Window For more information on using the Memory Dump window go to page 255 Specific Preferences M Fonts and Colors Debug Windows Foreground Color E Black gt a Background Color C White gt a Hardware Breakpoints Font J Use fixed pitch aak Trace xl Courier New v Apply settings to all debug windows M Options JV Apply changes to all JV Show address while scrolling ae Dump Range JV Allow automatic updates V Show current byte in hint C 64k V Show tool bar J Show current byte intitle bar Full Range IV Enable difference highlighting
27. 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 None Using i is like entering inputs into the Stdio Window dcecl_cmp myProgram c i MyInputs txt If LibrariesFilePathname Description Factory Default GUI Equivalent Example Compile using a file found in LibrariesFilePathname which lists all libraries 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 pathname for the new Lib dir dccl_cmp myProgram c lf MyPath MyLibs txt Command Line Interface rabbit com 309 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 warn
28. 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 back ground 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 When this option is checked the Use Syntax Highlighting in the edit window s right click menu allows you to toggle the syntax highlighting in the active file 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 oper ation is undone i
29. GLOBAL_INIT is called automatically by premain before main is called Calling _GLOBAL_INIT from an application program will cause reinitialization of any thing that was initialized in the call made by premain Multitasking with Dynamic C rabbit com 35 5 3 1 Solving the Real Time Problem with Costatements The Dynamic 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 COSEACE cos task 1 costate task 2 waitfor buttonpushed turnondevicel waitfor DelaySec 60L turnondevice2 waitfor DelaySec 60L ie UhatN ieteclencin ulm EWICAOIE idevice F COS elon nn task n The solution is elegant and simple Note that the second costatement looks much like the original descrip tion of the problem All the branching nesting and variables within the task are hidden in the implementa tion of the costatement and its wait for statements 5 3 2 Costatement Syntax The keyword cost ate identifies the statements enclosed in the curly braces that follow as a costatement costate name state statement yield abort waitfor expression 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
30. It is the baud rate used for target communications after the pro gram 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 Graphical User Interface rabbit com 274 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 port This default behavior may be disabled by checking the Disable Baud Negotiation checkbox When baud negotiation is disabled the pro gram 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 drop down menu lists PC COM ports that may be connected to the Rabbit based target It defaults to COM1 Starting with version 10 21 Dynamic C identifies which ones are USB ports 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 connection 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 system
31. TAD IIR WPI Ia IVAN IP IIe EAC RE AE my_file amp prealloc The first parameter my_part points to a partition structure This pointer must point to a mounted parti tion Some of the sample programs like fat_create c declare a local pointer and then search for a partition pointer in the global array fat_part_mounted Other sample programs like fat_shell c define an integer to be used as an index into fat_part_mounted Both methods accomplish the same goal of gaining access to a partition pointer The second parameter contains the file name including the directory if applicable relative to the root directory All paths in Dynamic C must specify the full directory path explicitly e g DIRI FILE EXT or DIR1 FILE EXT The direction of the slash in the pathname is a backslash by default If you use the default backslash for the path separator you must always precede it with another backslash as shown in the above call to fat_Open This is because the backslash is an escape character in a Dynamic C string To use the forward slash as the path separator define the macro FAT_USE_FORWARDSLASH in your application or in FAT LIB to make it the system default The third parameter determines whether a file or directory is opened FAT_F ILE or FAT_DIR The fourth parameter is a flag that limits fat_Open to the action specified FAT_CREATE creates the file or
32. This means that if there is a write cache entry to be written it will not be written The function fat_UnmountDevice flushes the cache i e writes all cache entries to the device before unmount ing so this should not generally be a problem if the device was properly unmounted 12 5 8 Hot Swapping an SD Card Hot swapping is currently supported on the RCM3900 and the RCM3910 FAT version 2 14 or later is required A sample program is provided in Samples FileSystem to demonstrate this feature FAT_HOT_SWAP_SD C The sample tests for a keyboard hit to determine if the user wants to hot swap the SD card Hot swapping an SD card requires that you unmount the device before removal as the FAT filesystem employs a cache system that may not have written all information to the device unless unmounted As demonstrated in the sample program the SD card should only be removed after it has unmounted with fat_UnmountDevice and no operations are happening on the device Only fat_AutoMount should be used to remount SD cards In addition the function sdspi_debounce should be called to verify SD card presence before attempting to remount an SD card 12 5 9 Unsupported FAT Features At this time the Dynamic C FAT file system does not support the following e Single volume drives they do not have an MBR e FAT32 or long file or directory names e Sector sizes other than 512 bytes e Direct parsing of relative paths e Direct s
33. abort Jumps out of a costatement for costate if condition abort align Used in assembly blocks the align keyword outputs a padding of nops so that the next instruction 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 Dynamic C User s Manual rabbit com 189 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 operators 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 asm Use in Dynamic C code to insert one assembly language instruction If more than one assembly instruction is desired use the compi
34. as the CPU clock instead of the standard CPU clock 2 Macros and Global Variables rabbit com 326 A 3 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 The follow ing program will use dc_timestamp to help calculate the date and time printf The date and time 1x n dc_timestamp main struct tm t printf dc_timestamp 1x n dc_timestamp mktm amp t dc_timestamp printf 2d 02d 4d 02d 02d 02d n t tm_mon t tm_mday t tm_year 1900 t tm_hour t tm_min t tm_sec 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 cor rectly 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 MS_ TIMER This unsigned long variable is initialized to zero The periodic interrupt updates MS_TIMER every milli second T
35. automatically save all open editor windows before compilation turn off the prompt that asks you if you want to reload a modified file 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 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 combination 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 backspace 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 activate 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 Notepad Cursor Beyond EOF Check this option to move the cursor past the end of the file Cursor Beyond EOL Check this
36. but also the space needed by the BPB and the root directory One is added to dev gt partsecsize to ensure an extra sector is assigned if MY_PARTITION_SIZE is not evenly divisible by the size of a flash sector The partition type part type is determined by the partition size 1 indicates FAT12 and 6 indicates FAT16 Fill in an mbr_part structure for each partition you are creat ing The remaining entries should be zeroed out When laying out partitions there are three basic checks to make sure the partitions fit in the available device space and do not overlap 1 No partition can start on a sector less than 1 2 Each partition resides on sectors from start sector throughstartsector partsecsize L No other partition can have a startsector value within that range 3 No partition ending sector startsector partsecsize 1 can be greater than or equal to the total sectors on the device The partition boundaries are validated in the call to fat_FormatDevice and the function will return an error if any of the partition boundaries are invalid If fat_FormatDevice returns success then call fat_AutoMount with flags of FDDF_COND_PART_FORMAT FDDF_MOUNT_DEV_ FDDF_MOUNT_PART_ALL where is the device number for the device being partitioned This will for mat and mount the newly created partitions FAT File System rabbit com 164 12 5 4 Directory and File Names File and directory names are limited to 8 ch
37. define ESCQUOTE dccl_cmp myProg c d FSTR Temp 6 2F DEGREES C n define FSTR Temp 6 2f degrees C n None Select the Defines tab from Project Options Command Line Interface rabbit com 308 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 read 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 dcecl_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 Factory Default GUI Equivalent Example
38. e Select all C files that are part of your project and click Open e If your main file isn t at the top right click on it and select Set as Main File e Your new project is ready to run Graphical User Interface rabbit com 290 Project Explorer Default 0 x ct Add Files C Development MyFunctions C C Development MyFunctions_2 C Hi E R New Project Save Project Compile Project Remove File Set as Main File Shift Ctrl F1 New Project Load Project Save Project Save Project As Ctrl P Ctrl R Add Files New File Edit File Remove File Ctrl Ins Ctrl N Enter Run Project Compile Project Run Project Across the top of the Project Explorer window is a toolbar consisting of commonly used operations The full list of new project operations can be accessed through the right click menu The operations of the proj ect menu are summarized in the table below Table 16 1 List of Project Explorer Commands Command Function Hot key Set as Main File Indicates that the currently selected C file is the primary Shift Ctrl F1 application source file New Project Create a new project closes current project Load Project Load a previously saved project closes current project Ctrl P Save Project Saves currently loaded project Ctrl R Save Project As Saves currently loaded project with a new name Add Files Adds existing files to the
39. ee 274 sosis 229 16 7 3 Toolbars sses 288 paee 229 16 8 Window Menu cece eeeeeeeseereeeee 290 ee 229 16 9 Help Ment s c ci seesessesseeeesereneenes 297 ae ee 17 Command Line Interface 0 0 300 930 17 1 Default States ee ceceeeeeeeeneeeeeeees 300 ane 230 17 2 User Input eee eeeesseeeeeeeereeseeeereeses 300 be 230 17 3 Saving Output to a File 301 O 230 17 4 Command Line Switches 0 00 0 301 230 17 4 1 Switches Without Parameters 301 A 17 4 2 Switches Requiring a Parameter308 ai 231 S 231 17 5 Examples Btesetseeseerettrtesesseessensesreestt etet 313 o 231 17 6 Command Line RFU osses 313 asthe 231 18 Project Files eee eeeeeeeeeeeeeeteeees 316 ee 232 18 1 Project File Names eee 316 estan 232 18 1 3 Active Project 316 nuar 232 18 2 Updating a Project File B17 EAN 232 18 3 Menu Selections ee ee eeeeeeeeeeee SLT ere 232 18 4 Command Line Usage 318 mise 19 Hints and Tips 0 ceeeeseeeseeesereteeseeteteeeeeee BLO as 233 19 1 A User Defined BIOS eee 319 D 234 TO DRA ICIGNGY sirorecrnresnonnan S20 934 19 2 1 Nodebug Keyword 0 320 O 234 19 2 2 In line NO sessissiseiersscseins S21 E 234 19 3 Run time Storage of Data 321 O 234 19 3 1 User Block eee 321 o 234 19 3 2 WriteFlash2 eeeeeeeeeeeee 322 234 19 3 3 Battery Backed RAM 322 Bii 235 19 4 Root Memory Reduction Tips 322 cn 235 19 4 1 Increasing Ro
40. functionName ini ct ct int 2 Pointer to Void used to declare a pointer that points to something that has no type void ptr_to_anything 3 Return Type used to state that no value is returned void functionName paraml param2 Keywords rabbit com 214 volatile Reserved for future use xstring Declares a table of strings in extended memory The strings are allocated in flash memory at compile 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 physical address of the table this address is assigned to name by the compiler xstring name string_1 string_n yield Used in a costatement this keyword causes the costatement to pause temporarily allowing other costate ments to execute The yield statement does not alter program logic but merely postpones it for costate yield Keywords rabbit com 215 14 1 Compiler Directives Compiler directives are special keywords prefixed with the symbol They tell the compiler how to pro ceed 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 orig
41. hl endasm Ps iw The static method shown above is equivalent to using Set Vect Intern or Set VectExtern although these functions perform more safety checks that writing assembly code would circumvent Please see the Dynamic C Function Reference Manual for more information on using Set Vect Intern and SetVectExtern Using Assembly Language rabbit com 187 13 7 Common Problems If you have problems with your assembly code consider the possibility of any of the following situations e 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 e 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 The 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 H
42. if applicable relative to the directory root All paths in the FAT library are specified relative to the root directory FAT File System rabbit com 158 Error Handling Most routines in the FAT library return an int value error code indicating the status of the requested opera tion Table 2 contains a list of error codes specific to the FAT file system These codes along with other error codes an application may encounter are defined in Lib Rabbit4000 ERRNO LIB Table 2 FAT Specific Error Codes Code Value Description EFATMUTEX 300 FAT Mutex error uC OS EROOTFULL 301 Root directory full ENOPART 302 Not partitioned EBADPART 303 Partition bad or unrecognized EUNFORMAT 304 Partition or volume not formatted ETYPE 305 Bad type EPATHSTR 306 Bad file directory path string EBADBLOCK 307 Block marked bad on the device EBADDATA 308 Error detected in read data EDRVBUSY 309 Driver level is busy new write not started Cannot flush enough entries from cache to perform next read There are pending dirty cache entries from a previous boot Register all EUNF LUSHABLE 310 devices and this may go away If not there are dirty entries for a removable medium which is not mounted In this case call fatwtc_flushdev with the unregister fla
43. 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 speci fied through a modifier when the variable is declared or globally via the class directive Whatever the means if a local variable is marked static it will not appear in the Stack Trace window Pros Cons Uses Example Provides a concise history of the call sequence and values of local variables and function arguments that led to the current breakpoint all for a very small cost in ex ecution time and BIOS memory Currently the Stack Trace window can not trace the parameters and local variables in cofunctions Also the contents of the window can not be saved after a program crash Use stack tracing to capture the call sequence leading to a breakpoint and to see the values of functions arguments and local variables Say you have a function that is behaving badly You can set a breakpoint in the func tion and use the Stack Trace window to examine the function call sequence Exam ining the call sequence and the parameters being passed might give enough information to solve the problem The following screenshot shows an instance of qgsortdemo c and the Stack Trace window Note that the call to memcpy is not represented on the stack The reason is that its stack activity had completed and program execution had returned
44. 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 immedi ately within nanoseconds after the delay has expired In other words idle loops give precise 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 Multitasking with Dynamic C rabbit com 49 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 via a Dynamic C construct called the slice statement described in Section 5 9 The second way is uC OS II a real time preemptive kernel that runs on the Rabbit microprocessor and is fully supported by Dynamic C described in Section 5 10 5 9 Slice Statements The slice statement based on the costatement language construct allows the programmer to run
45. seeeeeeeesnsnnneneereeeeceeneeseannanrens 196 blocking a non blocking function 146 Default Compile Mode eeeee 279 BPS eats 163 delay loop sossesnveneneeeeceeececennnanrnnsneceeeeeseesnan 94 Carriage return oasian 141 delimiter Matching oc eeeeeeeeeeeeceeeeeees 241 cl sters drid sectors ono cence os 161 demotion Peseetitreeesreeseeesee ereere esteret 277 278 configuration library ssssssssssssesee 138 differences highlighting 255 CostateMents oo eee eee 146 148 disassemble creating a file isvisisnessc sessesneesberesetents 141 at address cccceccceesssseceeeeeseeeees 254 293 cnstom d vice driver voaa ec 138 BECO rorrnioii tiant 234 233 device en een neem 135 DLM and FAT wosssesssossssesssesevesssesensnseeee 150 CITE CLOLY 5 85 ss seessonss cecpetiouedubiai evel 135 DMA irean ei eee es 132 134 download manager DLM vs 150 download manager s erere eee 150 CLTOL COLES siseses ioiei 136 downloading eee ee eeesesee cee ceeeceeeneeeeees 9 escape character c sssscssssssssssssseseeeeee 151 DSR check AE A testedvapuenet ce vannene 275 fat AMOU ate cee essen 139 dump WINGOW vveseerersossrereresereversseressreoree 256 fat_configlib iiron 138 dw sevitieenssssssnssssnsseseenseneneeeeneneeeeetees 172 at ae en ren 139 Dynamic c fat_part_mounted 0 eee 139 differences mutch acd EE EA A 10 24 flash types supported cccsseeeeeeeeeeee 136 exit sesosennennsneassnssnannnnnnnnnonsnn
46. so we do an AND NOT of the FATATTR_DIRECTORY macro The default flag already does not allow hidden files so we are done That is set mode to FAT_INC_DEF amp FATATTR_DIRECTORY 5 Finally let s see how to get the next non empty entry of any type Start with the predefined flag FAT_INC_ALL This flag selects any directory entry of any type Since we do not want empty entries we have to remove that search condition from the flag so we do an AND NOT for the FAT_INC_EMPTY macro to filter out the empty entries That means mode is the bitwise combination of the macros mode FAT_INC_ALL amp FAT_INC_EMPTY 12 4 2 6 Deleting Files and Directories The fat_Delete function is used to delete a file or directory The second parameter sets whether a file or directory is being deleted Only one file or directory may be deleted at any one time this means that you must call fat_Delete at least twice to delete a file and its associated directory if the direc tory has no other files or subdirectories since a directory must be empty to be deleted fat_Delete my_part FAT_FILE DIR FILE TXT The first parameter my_part points to the static partition structure that was populated by fat_AutoMount The second parameter is the file type FAT_F ILE or FAT_DIR depending on whether a file or a directory is to be deleted The third parameter contains the file name including the directory
47. trace into oo ee eceeseseceeceesseceecesesseaeeceseees 250 StaCk seireniiscosescsi koeien ie reiii 290 295 type Stdio 3 nesueendelensiiwai 266 290 CASUDE cesiesscasscnigsnsebsteisasarscoednesessistesess 226 tiled horizontally 0 eee 290 CHECKING a e scisvscisvadesndessssassidessceesnedentes 277 tiled vertically oe ee eeeeeeeeeeeee 290 PY POGUE seeen oeeo En EENES 210 WAICH sssri orerar 254 290 292 U X UMALY Operators 0 ee ee eee ese eeeeeeees 225 KGAA eea ia a R 213 unbalanced stack cecccceeceeeseeeeeeeees 188 AME a E a 182 214 undoing changes 00 0 0 ce eeeseeseeeeeeeeees 245 asm blocks scseesnceescernsedeeseesnsetesseseese 176 WOM sorire r rE EEEN EEEE 211 definition cressisnisrienrieniii 129 unpreserved registers 184 188 root FUNCTIONS in ooo ee eee eee 202 UMSISHE sessirnir enserra 211 XPO aa techie Sede 129 322 untitled files ssssincrcsiecirsirrsriiserriss 243 KSD cire ee e arit 215 USB ccnrniencanen ane n 275 11 IS D AE A E E 180 211 320 Y Da HIG paceecian enema ene aal yield teh nate nepcaan fared eats 215 Utility Programs File Compression Decompression 332 Z Font Bitmap Converter 00 0 334 Rabbit Field Utility PEE VEEE EIIN E EEA 334 uC OS II eee eee eee eee ee eee eee eee eee eee eee ee eee eee 53 compatibility with TCP IP 0 67 V FESUICTIONS Tiihonin rourien ek 56 variables AULO DE EE E EE EE EE 191 Global seien E 19 PeO E E ceed 208 vertical tiling sisisi 290 virtual watchdogs
48. use PW to access far data Using Assembly Language rabbit com 181 ld pw t_local ld bede pwt t_local time 7 e g use PW to access near root data ld hl SP s_local add hl sp ldl pw hl ld hl pw t_local nestty endasm 13 3 6 3 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 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 language names of local vari ables 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 offset approach dis cussed previously can be used because the compiler maintains the offsets automatically 13 4 C Calling Assembly Dynamic C does not assume that registers are preserved in function calls In other words the function being called need not save and restore registers 13 4 1 Passing Parameters When a program calls a function from C it puts the first argumen
49. which is then used by the utility to remotely update an application You can set up a device to have both a DLM partition and a FAT partition Run the program Samples RCM3300 RemoteApplicationUpdate DLM_FAT_FORMAT C This program must be run on an unformatted serial flash i e a flash with no MBR To remove an existing MBR first run the program Samples RCM3300 SerialFlash SFLASH_INSPECT C to clear the first three pages The program DLM_FAT_FORMAT C will set aside space for the DLM partition and use the rest of the device to create a FAT partition Then when you run the DLM software it will be able to find space for its partition and will coexist with the FAT partition This shows the advantage to partitions Partitions set hard boundaries on the allocation of space on a device thus neither FAT nor the DLM software can take space from the other FAT File System rabbit com 150 12 4 2 File and Directory Operations The Dynamic C FAT implementation supports the basic set of file and directory operations Remember that a partition must be mounted before it can be used with any of the file directory or status operations 12 4 2 1 Open and Close Operations The fat_Open function opens a file or a directory It can also be used to create a file or a directory When using the non blocking FAT check the return code and call it again with the same arguments until it returns something other than EBUSY re fat_Open my_part
50. 5 10 References 167 8 3 3 Byte Stream Handler 0 00 115 Be I 9 Run Time Errors eee ee eeeeeeeeeeeeeeeeees 123 SoSH A anhy Tam RAE agais 9 1 Run Time Error Handling css 123 Fo NIN een ONS ste anes Ise 9 1 1 Error Code Ranges ee 123 eee ly aya DA 9 1 2 Fatal Error Codes v esssssssesssseeeee 124 Be DES SE eerie 19 9 2 User Defined Error Handler 125 p SEMNE Break points iri Assem 9 2 1 Replacing the Default Handler 125 13 1 4 Assembly and 32 bit Pointer 9 3 Run Time Error Logging cece 126 Repiste PW PX PY PZ 170 on a Foe a E 1 13 2 Assembler and Preprocessor 171 9 3 2 Initialization and Defaults 126 13 2 1 Comments 171 9 3 3 Configuration Macros 127 OE NP PG eS Table of Contents rabbit com 4 13 2 2 Defining Constants 0 171 MOUSE armiran n nE eE KER 204 13 2 3 Multiline MacroS cccccccccccccceeeee 173 OES E D E A E 204 13 2 4 Labels viccecccsscsssssssssssssssssssseseesen 173 ey oe es ae 13 2 5 Special Symbols sseseeeeees 174 TODISTE csccessissesescticcvsscscesvesscessceccetentects 205 13 2 6 C Variables cecceeeeeeeeeees 174 POC a A EAE EEE A E 206 13 3 Stand Alone Assembly Code 175 TOOb AE E E E 206 13 3 1 Stand Alone Assembly Code in SCOFUNC ssa ssocrssinnrsacesnissnswentvionsvensensaesos 206 Extended Memory Peer Sete eer 176 ae EIEII AE ETEEN I N e Saas a 13 3 2 Example of Stand
51. 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 If a slice state ment is active the timer interrupt decrements the t ime_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 wait for Multitasking with Dynamic C rabbit com 51 Example 1 Two slice statements and a costatement will appear to run in parallel Each block will run indepen dently but the slice statement blocks will suspend their operation after 20 ticks for slice_a and 40 ticks for slice_b Costate a will not release control until it either explicitly yields aborts or completes In contrast s1ice_a will run for at most 20 ticks then s1ice_b will begin running Costate a will get its next opportunity to run about 60 ticks after it relinquishes control main ine Bey We YAR ore Pp 4q Costate slice 500 20 4 slice_a slice 5
52. 6 C Variables C variable names may be used in assembly language What a variable name represents the value associ ated 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 rep resents 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 The Rabbit 4000 has additional processor register names that are reserved JK PX PY PZ PW BCDE JKHL SU and HTR Both upper and lower case instances are reserved for processor register names The name of a structure element represents the offset of the element from the beginning of the structure In the following structure for example struct s int x int y Int zy the embedded assembly expression s x evaluates to 0 st 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 sf offset into s int x 0 struct a 2 ie sizeof x int b 2 offset is 0 relative to a int c A offset is 2 relative to a Using Assembly Language rabbit com 174 Just like in the first definition of structure s the assembly expression s
53. Alone Assembly ShO nnn 207 CODE aise enasessiattarenaseeneseanrsreaseentansass 176 SPE cede atin E E 208 13 3 3 The Stack Frame 000000 177 SIZCOLS occ a NT AATE TEET T 208 13 3 4 Embedded Assembly Example 178 Se sciscsussuatdtrsesisiassonensvsbnbiensiwtareiaes 208 13 3 5 The Disassembled Code Window SEALIG se 7cscccbaais sccctacadcdanotasaceaseccagecoesawences 208 179 SUGE asro E E O a 209 SWItCH cceeeecseesesesesesceceeceseseseceeecenens 210 13 3 6 Local Variable Access 180 typedef raat uli eccieetetnnensicliees 210 13 4 C Calling Assembly eee 182 WOM e a E 211 13 4 1 Passing Parameters reene eenen ennonn 182 unsigned PEPPEN PIP S FERPA ON PO T I AS 21 1 13 4 2 Location of Return Results G 183 waiting PE IEE EENI EONI EE esas D 13 43 Returning a RICHIE acess 183 a E a a eee 13 5 Assembly Calling Cou cee eeeeeeeeeeneeee 184 WED aipee eet 212 13 6 Interrupt Routines in Assembly 184 WIC cvicicseosscesstvvassnessrvostentzeserateosensees 213 13 6 1 Steps Followed by an ISR 185 KCAL Ais A E E T 213 13 6 2 Modifying Interrupt Vectors P 185 xmem PEEP ET EOE E ESE A E ETET 214 137C Probi 188 Aoi o PASE EE A 214 PAON ETO DADIS irei Volatiles iisisti 215 14 Keywords sceccesscssseessesssesssessesssesstessesssesaseesees 189 e exessorsstosssnaantesiestertonssasecentnainsteies 215 bandon 189 yield EA oe seeeeeeseeseesessenneeeeneeneenssnss 215 Roce eer es ee 189 14 1 Compiler Directi
54. BY YOU FOR THE SOFTWARE Termination This License is effective for the duration of the copyright in the Software unless ter minated You may terminate this License at any time by destroying all copies of the Software and its documentation This License will terminate immediately without notice from Rabbit 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 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 Rabbit and no sin gle waiver will constitute a continuing or subsequent waiver This License may not be assigned sub licensed or otherwise transferred by You by operation of law or otherwise without Rabbit s prior written consent This License shall be governed by and construed in accordance with the laws of the United States and the State of California exclusive of the conflicts of laws principles The United Nations Convention on Contracts for the International 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 ex
55. C has a compression utility feature The default utility implements an LZSS style compression 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 rabbit com V 1 3 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 further is not useful and may even cause the resulting 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 t
56. Cluster 2 FAT File System rabbit com 162 12 5 3 1 BPB The fields of the BPB contain information describing the partition e the number of bytes per sector e the number of sectors per cluster see Table 3 e the total count of sectors on the partition e the number of root directory entries e plus additional information not mentioned here The FAT type FAT12 or FAT 16 is determined by the count of clusters on the partition The 12 and 16 refer to the number of bits used to hold the cluster number The FAT type is calculated using information found in the BPB Information from a BPB on a mounted partition is stored in the partition structure of type fat_part populated by fat_AutoMount Partitions greater than or equal to 2 MB will be FAT16 Smaller partitions will be FAT12 To save code space you can compile out support for either FAT type Find the lines define FAT_FAT12 comment out to disable FAT12 support define FAT_FAT16 comment out to disable FAT16 support in LIB FAT LIB make your change and then recompile your application 12 5 3 2 FAT The file allocation table is the structure that gives the FAT file system its name The FAT stores informa tion about cluster assignments A cluster is either assigned to a file is available for use or is marked as bad A second copy of the FAT immediately follows the first 12 5 3 3 Root Directory The root directory has a predefined
57. Connection Run lt F9 gt Starts program execution from the current breakpoint Registers are restored including interrupt status before execution begins If in Edit mode the program is com piled and downloaded Stop lt Citrl 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 three sec onds 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 encountered Step Over lt F8 gt Executes one C statement or one assembly language instruction if the assembly window is displ
58. Dynamic C They are the executable AAMASiaS Eos ld x Rfu exe the cold loader the pilot M File Locations BIOS and a couple of files used to 8 Bit Cold Loader CADynamic C Bios coldload bin eS determine information about the mem ory device being used a enm aag Mami Pora Te File Locations from the Setup menu We strongly recommend that the default files be used They are needed internally by the RFU and improper operation of the utility will 8 Bit Pilot BIOS C Dynamic C Bios pilot bin S result if a replacement file does not f ial Pi CAD ic C Bios pilotserflash bi contain the expected code or informa al etal ee tion Rfu exe and its ancillary files are freely distributable The RFU communicates with the tar ES0 Test Dynamic C Bios checkesO4mem bin x get using a serial connection This connection requires a programming cable Serial Cold Loader Dynamic C Bios coldloadserflash bin oa 16 Bit Cold Loader CAD ynamic C Bios coldload 6bit bin Ws 16 Bit Pilot BIOS CAD ynamic C Bios pilot bit bin ne Memory Type CAD ynamic C Bios checkRAMCSO bin Flash table CADynamic C Flash ini eS V 1 5 1 Command Line RFU 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 target The options ar
59. Government the following provisions apply The Government agrees i if the Soft ware 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 Government 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 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 WARRANTY OF ANY KIND Information regarding any third party services included in this package is provided as a con venience only without any warranty by Rabbit and will be governed solely by the terms agreed upon between You and the third party providing such services RABBIT AND ITS LICENSORS EXPRESSLY DISCLAIM ALL WARRANTIES EXPRESS IMPLIED STATUTORY OR OTH ERWISE INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MER CHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND NON INFRINGEMENT OF THIRD PARTY RIGHTS RABBIT DOES NOT WARRANT THAT THE FUNCTIONS
60. If this is the end of the file and you want to read from the beginning of the file you must change the file position pointer This can be done by closing the file and reopening it thus moving the position pointer to the start of the file Another way to change the position pointer is to use the fat_Seek function This function is explained in Section 12 4 2 3 Use fat_ReadDir to read a directory This function is explained in Section 12 4 2 5 Use fat_Write or fat_xWrite to write toa file The difference between the two functions is that fat__xWrite copies characters from a string stored in extended memory rc fat_Write amp my_file Write data r n 12 The first parameter amp my_file is a pointer to the file handle already opened by fat_Open Because fat_Open sets the position pointer to the start of the file you will overwrite any data already in the file You will need to call fat_Seek if you want to start the write at a position other than the start of the file see Section 12 4 2 3 The second parameter contains the data to write to the file Note that r n carriage return line feed appear at the end of the string in the function This is essentially a FAT or really DOS convention for text files It is good practice to use these standard line end conventions If you only use n the file will read just fine on Unix systems but some DOS based programs may have difficulties The third paramete
61. Insert Code Template Clicking on the desired template name inserts that template at the cursor location Graphical User Interface rabbit com 265 16 7 1 6 Debug Windows Tab Click on the Debug Windows tab to display the following dialog Here is where you change the behav ior and appearance of Dynamic C debug windows xi Editor Gutter amp Margin Display Syntax Colors Code Templates Debug Windows Print Alerts General Preferences 7 sssembly Stdio Do not automatically open Open selected Ps Assen W Std g iegisters Watch Open last used windows E Fissi D baiss i Stack JV Stack Trace Open all debug windows F Hardware Breakpoint Specific Preferences Fonts and Colors Debug Windows Foreground Color Assembly Black z l E Background Color egisters Memory Dump O white l Watch j s Hardware Breakpoints Font Use fixed pitch Stack Trace F Messanes x Terminal Bi Apply settings to all debug windows Options J Automatic open Row fi ooo0 JV Automatic Vertical Scroll Col fe I Automatic Horizontal Scroll aaa 0 J7 Leave stdio window open in Edit Mode Spaces In Tab je V LogtoFile Append cares e Select which which debug windows will be opened after a successful compile under the General Pref erences section The Specific Preferences section is where you customize each type of window as selected in the Debug Wi
62. Memory Access rabbit com 134 RABBI Tame 12 FAT FILE SYSTEM Dynamic C comes with a FAT File Allocation Table file system The small footprint of this well defined industry standard file system makes it ideal for embedded systems The Dynamic C implementation of FAT has a directory structure that can be accessed with either Unix or DOS style paths The standard direc tory structure allows monitoring logging Web browsing and FTP updates of files The Dynamic C implementation of FAT supports both SPI based serial flash devices and NAND flash devices FAT version 2 13 adds support for SD cards and requires Dynamic C 10 21 or later In all versions of the FAT a battery backed write back cache reduces wear on the flash device and a round robin cluster assignment helps spread the wear over its surface Please be sure check the Rabbit website for software patches and updates to Dynamic C the FAT filessy tem and for your specific hardware www rabbit com support downloads The FAT library can be used in either blocking or non blocking mode and supports both FAT 12 and FAT16 See Section 12 5 3 1 for more information on these FAT types Operations performed by the Dynamic C FAT implementation are e Formatting and partitioning of devices e Formatting partitions e File operations create open close delete seek read and write Directory operations create read and delete e Labels create and delete Let s define some te
63. Multitasking with Dynamic C rabbit com 58 Figure 5 10 shows the logical flow of a TA ISR Figure 5 10 Logical Flow of a TA ISR Save registers used by TA ISR Clear interrupt source Increment nesting count ee Do work necessary for interrupt Reenable interrupts optional Call OSIntExit Y Decrement Nesting Count a Yes Is Nesting 0 No Is switch pending e Restore Registers used by TA ISR Return from interrupt Switch to new task Multitasking with Dynamic C rabbit com 59 Sample Code for a TA ISR Fortunately the Rabbit BIOS and libraries provide all of the necessary flags to make TA ISRs work With the code found in Listing 1 minimal work is needed to make a TA ISR function correctly with uC OS II TA ISRs allow wC OS II the ability to have ISRs that communicate with tasks as well as the ability to let ISRs nest thereby reducing interrupt latency Just like a standard ISR the first thing a TA ISR does is to save the registers that it is going to use 1 Once the registers are saved the interrupt source is cleared 2 and the nesting counter is incremented 3 Note that bios_intnesting is a global interrupt nesting counter provided in the Dynamic C libraries specifically for tracking the interrupt nesting level If an ipres instruction is executed 4 other
64. NULL OS_TASK_OPT_STK_CHK OSTaskCreateExt task4 NULL 3 3 2048 NULL OS_TASK_OPT_STK_CHK OS_TASK_OPT_STK_CLR OSTaskCreateExt task5 NULL 4 4 4096 NULL OS_TASK_OPT_STK_CHK OS_TASK_OPT_STK_CLR Multitasking with Dynamic C rabbit com 55 5 10 1 3 Restrictions At the time of this writing uC OS II for Dynamic C is not compatible with the use of slice statements Also see the function description for OSTimeTickHook for important information about preserving registers if that stub function is replaced by a user defined function Due to Dynamic C s stack allocation scheme special care should be used when posting messages to either a mailbox or a queue A message is simply a void pointer allowing the application to determine its mean ing Since tasks can have their stacks in different segments auto pointers declared on the stack of the task posting the message should not be used since the pointer may be invalid in another task with a different stack segment 5 10 2 Tasking Aware Interrupt Service Routines TA ISR Special care must be taken when writing an interrupt service routine ISR that will be used in conjunction with uC OS II so that uC OS II scheduling will be performed at the proper time 5 10 2 1 Interrupt Priority Levels uC OS II for the Rabbit reserves interrupt priority levels 2 and 3 for interrupts outside of the kernel Since the kerne
65. 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 3 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 documentation provided by the software engineers is a rich source of information Figure 3 1 Screenshot of Samples Folder Open File Look in B Samples e ex Fe AES _Encryption LcD keypad GRcm4s00w BL 4S1xx LowPower 2rcms4o0w O BLxS2xx per 9rcmseoow O coFUNC Rabbit4o00 rcms700 costTaTe Rabbitnet RemoteProgramUpdat ErrorHandling rcm4ooo Restart ars FFT ORcm4100 RTCLOCK Filesystem rcm42o0 SERIAL rec 9rcm4300 O S5lavePort OINTRUPTS ORcm4400w SLICE lt gt File name Files of type Source Files c h lib v Cancel The subfolders contain sample programs that illustrate the use of the various Dynamic C libraries For example 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 lan guage extensions Besides its subfolders the Samples folder also contains some sample program
66. Rabbit this is how HL is loaded with the value in i ld hl sp SP i This works if func is useix however if the IX register has been changed by the user code this code will fail el Indl ixr 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 10 Ia ld Gralla ld hl sp SP 1g ex de hl endasm Using Assembly Language rabbit com 178 13 3 5 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 Disassem bled 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 Figure 13 2 Disassembled Code Window Dynamic C Dist 10 21 File Edit Compile Run Inspect Options Window Help fasm1 c 6 ch Oxil 1634 210600 ld hl 0x0006 ib37 39 add hl sp 1538 3611 ld ihl Oxil 1b3a 3E11 ld a Oxil ibc 6F ld 1 a 1b3a EF rst 0x26 asm1l c 7 i 0x2233 ib3e 213322 ld hl 0x2233 1b41 D404 ld sp 0x04 hl 1
67. Slave Port Driver rabbit com 113 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 lib define SP_CHANNEL 0x42 char 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 wfd 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 lse if read_length lt 0 printf Got read error d n read_length printf wrfree d n MSwrFree SP_CHANNEL The Slave Port Driver rabbit com 114 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 o
68. Syntax Colors tab of the Environment Options dialog This is more than mere lipstick The visual representation 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 program 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 Dynamic C User s Manual rabbit com 89 6 4 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 com piler being confused from the first syntax error During development verify code as you progress Develop code one function 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 applica
69. Use reversed font colors Customized Colors IV Bold foreground Foreground E Black v V Use window background Background White Y CD 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 break point single step etc Each time you single step changed data in the memory dump win dow is highlighted in reverse 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 dis plays 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 Graphical User Interface rabbit com 271 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 Ox0000 Oxffff A dump of a physical address will result in a dump of a 1M region 0x00000 Oxfffff A du
70. 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 See the Rabbit 4000 Designer s Handbook for more BIOS information Graphical User Interface rabbit com 280 User Defined Lib Directory File same as the command line compiler option 1f The Library Lookup information retrieved with lt Ctrl H gt is parsed from the libraries found in the lib dir file which is part of the Dynamic C installation Checking the Use box for User Defined Libraries File allows the parsing of a user defined replacement for the lib dir file Library files must be listed in the lib dir file or its replacement to be available to a program If the function description headers are formatted correctly see Function Description Headers on page 32 the functions in the libraries listed in the user defined replacement for the lib dir file will be available with lt Ctrl H gt just like the user callable functions that come with Dynamic C 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 co
71. a structure defined and followed by a declaration The declaration uses the far qualifier to place the entire structure in xmem Also note that far is not allowed for individual structure members since this does not Keywords rabbit com 198 make any sense However as in the case of function parameters and auto variables pointers to far are allowed see Example 4 Note that arrays in xmem can be made much larger than root arrays and can be indexed using long values in addition to integers Example 4 struct ree inte ay Gaar olio Porn e o This is allowed if aie ime This is not allowed if int aie npp This is also not allowed myrec is a struct in xmem tar struct Kec myiceCer array is an array of integers in xmem far int array 4000 The far qualifier can be used in typedefs as well In Example 5 we declare a typedef for a pointer to far type which can be further modified as shown Example 5 fptr is a pointer to an integer in xmem typedet tar int far oti Tto Inte tawr orr cO ime COCE Qly cptr is a pointer to an integer in xmem IEYVIDSCISIE int pr CO LNE tear otre co lnc COCE i this declaration is equivalent to the previous two far int eper 7 The keyword far can also be used in conjunction with const allowing variables to be declared in the xmem space in flash Example 6 shows an example declaration of a far constant Example 6
72. a message to the target every three seconds and expects a response If no response is received Dynamic C ends the debugging session Several things can be responsible for the target not replying to a polling message such as loss of power running in a loop with interrupts disabled leaving interrupts disabled long enough to disrupt the serial port A ISR or overwriting serial port A configuration among other things Polling does introduce overhead but it is minimal since it only occurs every three seconds Without polling turned on Dynamic C will only notice an unresponsive target when the user attempts to do some other sort of debugging such as stop ping the target setting a breakpoint single stepping setting or evaluating a watch etc 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 previous 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 In Dynamic C you have the ability to switch back to debug mo
73. a pointer to a named costatement s CoData structure do the following Static Cobata Cosienle allocate memory for a CoData struct static CoData COS IF pcostl amp costl get pointer to the CoData struct COBeoin ipost Di initialize CoData struct costate pcostl pcostl is the costatement name and also a pointer to its CoData structure The storage class of a named CoData structure must be static 5 4 4 Functions for Use With Named Costatements For detailed function descriptions please see the Dynamic C Function Reference Manual or select Func tion Lookup Insert from Dynamic C s Help menu 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 point to by p is initialized and not running int isCoRunning CoData p This function returns true if the costatement pointed to by p will run if given a continuation call void CoBegin CoData p This function initializes a costatement s CoData structure so that the costatement will be execut ed next time it is encountered void CoPause CoData p This function will change CoData so that the associated costatement is paused When a cos tatement is called in this state it does an implicit yield until it is released by a call from CoResume or CoBegin void
74. a supported flash device powered up and connected to a serial port on your PC through the programming cable 12 3 1 Blocking Sample The sample program Samples FileSystem FAT_SHELL C allows you to use the FAT library by entering DOS like or Unix like commands To run this sample open Dynamic C then open FAT_SHELL C Compile and run FAT_SHELL C by pressing F9 If the flash device has not been for matted and partitioned FAT_SHELL C will format and partition the flash device and then you will be prompted to run FAT_SHELL C again just press F9 when prompted A display similar to the one shown in Figure 1 will open in the Dynamic C Stdio window Optional parameters are denoted by the square braces and following the command name The alc after touch and mtouch indicates an optional allocation amount in bytes The square braces in the descrip tion indicate the default value that will be used if the optional parameter is not given Figure 1 List of Shell Commands Set partition where p is partition id List current directory Change directory root Print current directory Create file C1 cluster alloc Create n files fi cluster each Write to file ik Write to n files ik each Append to file C Append to n files ik each Create directory Create n directories ename bytes Read from file first ik max filename newfile Split excess allocation to newfile filename bytes Truncate file length Free Prealloc filename De
75. already been dealt with so there is no need to spend time getting another cluster This feature should be used with care as pre allocated clusters do not show up on directory listings until data is actually written to them even though they have locked up space on the device The only way to get unused pre allocated clusters back is to delete the file to which they are attached or use the fat_truncate orfat_split functions to trim or split the file In the case of fat_split the pre allocated space is not freed but rather attached to the new file created in the split FAT File System rabbit com 138 Lastly a pointer to a partition structure is declared with the statement fat_part first_part This pointer will be used as a handle to an active partition The fat_part structure and other data struc tures needed by the FAT file system are discussed in fat_Aut oMount The partition pointer will be passed to API functions such as fat_open Now a call is made to fat_AutoMount This function was introduced in FAT version 2 01 as a replacement for fat_Init Whereas fat_Init can do all the things necessary to ready the first partition on the first device for use it is limited to that The function fat_Aut oMount is more flexi ble because it uses data from the configuration file fat_config 1ib to identify FAT partitions and to optionally ready them for use depending on the flags parameter that is passed to it The fl
76. and a value that is too large will append any data that already exists beyond your new data The file is closed to release the file handle to allow it to be used to identify a different file re fat_Close amp my_file The parameter amp my_file is a handle to the file to be closed Remember to check for any return code from fat_Close since an error return code may indicate the loss of data FAT File System rabbit com 141 The file must be opened for any further work even though amp my_file may still reference the desired file The file must be open to be active so we call fat__Open again Now the file can be read rc fat_Read amp my_file buf sizeof buf The function fat_Read returns the number of characters actually read The parameters are as follows e amp my_file isa handle to the file to be read e buf is a buffer for reading writing the file that was defined at the beginning of the program e sizeof buf is the number of bytes to be read into buf It does not have to be the full size of the buffer Characters are read beginning at the current position of the file The file position can be changed with the fat_Seek function If the file contains fewer than sizeof buf characters from the current posi tion to the end of file marker EOF the transfer will stop at the EOF If the file position is already at EOF 0 is returned The maximum number of characters read is 32767 bytes per call The file
77. and not 19 C strings have a terminating null byte appended by the compiler Operators rabbit com 238 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 discarded 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 15 1 Operator Precedence Operators Associativity Function Q 0O gt left to right member l o Wms Sie aca 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 l left to right equality amp left to right bitwise left to right bitwise left to right bitwise amp amp left to right logical E left to right logical
78. at least one free COM or USB port Please note that Windows Vista is supported by Dynamic C out of the box if there is only one processor in the host PC or laptop With multiple processors a k a dual cores present in the host system you must check Windows Processor Affinity setting in order to ensure Vista compatibility with Dynamic C Tech nical note TN257 Running Dynamic C with Windows Vista has instructions for modifying the Proces sor Affinity setting This technical note is available on the Rabbit website www rabbit com support techNotes_whitePapers shtml dcp Starting with Dynamic C 10 21 the Processor Affinity setting is set automatically 1 2 Assumptions It is assumed that the reader has a working knowledge of e The basics of operating a software program and editing files under Windows on a PC e Programming in a high level language e Assembly language and architecture for controllers Refer to one or both of the following texts for a full treatment of C e The C Programming Language by Kernighan and Ritchie published by Prentice Hall e C A Reference Manual by Harbison and Steel published by Prentice Hall Dynamic C User s Manual rabbit com 8 RABBI TE 2 INTRODUCTION TO DYNAMIC C Dynamic C is an integrated development system for writing embedded software It is designed for use with Rabbit controllers and other controllers based on the Rabbit microprocessor 2 1 The Nature o
79. 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 e ZIMPORT_MASK Used to determine if the imported file is compressed z import or not ximport e OUTPUT_COMPRESSION_BUFFERS default 0 Number of 24K buffers for compression com pression also requires a 4K input buffer which is allocated automatically for each output buffer that is defined e 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 V 1 3 3 Replacing the File Compression Utility Users can use their own compression utility replacing the one provided If the provided compression util ity is replaced the following support libraries will also need to be replaced zimport lib 1lzss lib and bitio 1lib They are located in lib zimport The default compression utility Zcompress exe is located in Dynamic C s root directory The utility 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
80. blocking functions allow other processes to proceed while waiting for hardware resources to finish or become available A driver is the software interface that handles the hardware specific aspects of any communication to or from the device 12 1 Overview of FAT Documentation A sample program is reviewed in Section 12 2 Two additional sample programs one for use with the blocking mode of the FAT and the other for use with the non blocking mode are described in Section 12 3 Then Section 12 4 gives detailed descriptions of the various FAT file system functions formatting open ing reading writing and closing Short focused examples accompany each description There is some general information about FAT file systems and also some web links for further study in Section 12 5 NOTE All error codes returned from the Dynamic C FAT file system are defined in Lib Rabbit4000 ERRNO LIB 12 2 Running Your First FAT Sample Program To run FAT samples you need a Rabbit based board with a supported flash type such as the serial flash device available on the RCM4200 and 4210 FAT version 2 13 requires Dynamic C 10 21 or later and adds support for SD cards which are available on the RCM4300 and 4310 The board must be powered up and connected to a serial port on your PC through the programming cable to download a sample program In this section we look at fat_create c which demonstrate the basic use of the FAT file system If you
81. boxes and click Update Starting with Dynamic C 10 50 hardware breakpoints are disabled when code is executing within the debug kernel The text box labeled Mask allows you to mask off any of the 24 bits of the address A one in the mask inhibits the corresponding bit in the address match register from contributing to the address match condition essentially creating a don t care condition for that address bit Basically the mask allows you to express a range of addresses thus its value should be chosen carefully A hardware breakpoint configured for a data write and or data read can be triggered by internal I O writes and or reads For example in the following code with a hardware breakpoint set at address 0x000600 i e VRAMO0 for a data read Dynamic C will stop after the ld instruction void main asm debug ioi ld a VRAMOO endasm Note that a hardware breakpoint is not the same as a hard breakpoint Hardware breakpoints are hard in the sense that interrupts are disabled by default when the breakpoint occurs Graphical User Interface rabbit com 251 Clear All Breakpoints lt Ctrl B gt Clears all software breakpoints The shortcut was changed to Ctrl B in Dynamic C 10 21 Poll Target lt Ctrl L gt A check mark means that Dynamic C will poll the target The absence of a check mark means that Dynamic C will not poll the target If Poll Target is selected Dynamic C sends
82. 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 is outside of that embbeded assembly segment 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 Rabbit recommends that pre processor macros be used instead of equ whenever possible Using Assembly Language rabbit com 173 13 2 5 Special Symbols This table lists special symbols that can be used in an assembly language expression Table 13 2 Special Assembly Language Symbols Symbol Description Indicates the amount of stack space in bytes used for stack based P H variables This does not include arguments Constant for the current code location For example ge ld hl 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 stack space RETVAL reserved for the st ruct function returns See Section 13 3 3 2 for more information on the frame reference point LENGTH Determines the next reference address of a variable plus its size 13 2
83. current insertion point Nothing can be pasted in a debugging win dow 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 template 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 ten bookmarks in the active edit window Graphical User Interface rabbit com 245 Go to Bookmark Go to one of ten 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 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
84. debug memory corrup tion errors The Mask text box in the Add Edit Hardware breakpoints dialog lets you spec ify don t care digits in the address thus using a single breakpoint address to set a range of addresses that will trigger the breakpoint Example The debug windows make configuring a hardware breakpoint straightforward For instance the Assembly window lists an address for each instruction so breaking on an instruction fetch is just a matter of finding the instruction in the Assembly win dow and typing its address into the hardware breakpoint dialog box as shown in the screen shot below of Demol c Dynamic C User s Manual rabbit com 74 Table 6 1 Samples Demol c gt Dynamic C Dist 10 40 File Edit Compile Run Inspect Options Window Help Do we TeaM All 3 disassembled Code joj x _ Address Opcode Instruction Cycles DEMO1 C 16 while 1 aj 000 e836 210100 ld hl 0x0001 6 000 e839 cc bool hl 2 O00 e83a CAT7AES jp z OxES7Aa 7 000 e83d EF rst 0x28 10 DEMO1 C 17 i 000 e83e C402 ld hl sp 0x02 9 000 e841 D402 ld sp 0x02 hl 11 000 2843 EF snk Ar mp DEMO1 C 19 fc Add Edit Hardware breakpoint 000 e844 BF Properties 000 e845 D40C Hardware Breakpoint Selection jiaki 000 e847 EF g DEMO1 C 19 fc Physica nnnnnn 000 e848 C40C Segmented nnninnnn 000 e84a 112C Address hex 000 e83e Mask hex 0 000000 000 e84d ED4E 000 e
85. directory if it does not exist If the file does exist it will be opened and the position pointer will be set to the start of the file If you write to the file without moving the position pointer you will overwrite existing data Use FAT_MUST_CREATE if you know the file does not exist this last option is also a fail safe way to avoid opening and overwriting an existing file since an EEXIST error message will be returned if you attempt to create a file that already exists The fifth parameter amp my_file is an available file handle After a file or directory is opened its handle is used to identify it when using other API functions so be wary of using local variables as your file han dle The final parameter is an initial byte count if the object needs to be created It is only used if the FAT_CREATE or FAT_MUST_CREATE flag is used and the file or directory does not already exist The byte count is rounded up to the nearest whole number of clusters greater than or equal to 1 On return the variable prealloc is updated to the number of bytes allocated Pre allocation is used to set aside space for a file or to speed up writing a large amount of data as the space allocation is handled once Pass NULL as the final parameter to indicate that you are opening the file for reading or that a minimum number of bytes needs to be allocated to the file at this time If the file does not exist and you pass NULL the f
86. e ites tected atten estaba 173 DATASEG a yccccceisisescspetsiesorepesedessnsodesese 129 errors date and time ooo eee eee eee eeeeeee teres 93 error code ranges eee eee eeeeeeeeee 123 a l o A A oaipsceys banner Vorsvenssspea es 171 JocatiNE iir circinsrecoierien a 247 ebDUE nriecatiian 320 TONM secretion i n i 276 dialog DOX ssisreserrisesiisusecsireosissessiiavnisst 282 ESC key differences highlighting oe 255 to close MENU 00 ee eee eeeeee teeters 242 disassemble at address eee 254 examples disassembled code eee eeeeeeeeeee 254 delay lOOP oo cece ee eeeeeeeeeteeeeeetseeesees 94 hints and tips oer 69 91 TOOCUIES sunssssscsssabvecsdisnnstisesbesnstdvasteresess 30 KEY WOLG 32 s ceiscaese ce teesevcoaeniese eee 195 timing LOOP oo eee eee eeeeeeeeeetee ener esos 93 memory dump 1 0 eee eee eeeeeeeeeeee 255 exit Dynamic Co eee este eeeeeeeees 244 polling the target oo ee 250 extended memory eee 10 182 214 Step OVER Srscecesiesncseestienbesracsdetesonessdensess 250 ASM DIOCKS sicsesissessdesscureseisesttvesseeesteetes 176 switching modes eee eters 247 ERTED hrer E en es 30 197 trace Into csescenessenesenenseersdncestentisenseonesces 250 update watch expressions 00 0 0 254 F watchdog METS eseni rere eee 95 far pointers and data secs 20 22 197 WINdOWS neesesessseseseseeees 266 272 292 295 FAT Ceclarations 0 eee ee eeeeeeceeeeecseeaes 28 sits bite ota HIG a aa anai 144 default
87. edit the filename Security Software amp Utility Programs rabbit com 333 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 dcez 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 V 1 4 Font and Bitmap Converter Utility The Font and Bitmap Converter converts Windows fonts and monochrome bitmaps to a library file format compatible with Rabbit 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 Utilities folder where you installed Dynamic C 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 necessary Save the file as name_me lib the name of your choice Add the file to applications with the statement use name_me lib remember to add this filename to li
88. for the sub sequent store instruction To correctly implement the assembly in the above sample do the following asm Corrected version of incorrect code above ldl px ptr ptr is in root so load low word to a 32 bit register high word is loaded with OxFFFF to flag root address ld px px this loads foo s far physical address ld a X ld px a endasm Replacing the first assembly block with the above listing will produce the expected result of printing X The Idl instruction correctly loads the root address of ptr into px making the subsequent ld instruc tion load foo s far physical address into px The above code has the virtue of being not only correct but also small 11 bytes fast 24 clocks and spartan with regard to its register requirements only 2 registers are needed Like the Idl instruction the instructions convc and convd also convert logical addresses though not to the equivalent physical address but rather to the offset into the physical device Using Assembly Language rabbit com 170 13 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 13 1 Operators Not Supported By The Assembler Operator Symbol Operator Description conditional dot gt points to derefe
89. gt 60L tasklstate 3 UhEMonGennnee 2a a n timer2 time break case 3 it eimeeiimeaie gt 60L 4 tasklistate 1 Turnor iEClewiLeS i y Curno ECE vViLeeS2 Pp break other tasks or state machines If there are other 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 costate ment 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 state ment 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
90. have been set up For detailed information about how the interrupt vectors are set up and operate please see the Rabbit 4000 Designer s Handbook Users can modify interrupt vector code under all program models in one of two ways e Reading the interrupt CPU registers directly IER and EIR e Using the configuration macros INTVEC_BASE and XINTVEC_BASE As noted the 8 bit CPU registers are called IIR and EIR corresponding to internal interrupts and external interrupts respectively Likewise the macros are called INTVEC_BASE and XINTVEC_BASE When Rabbit s BIOS finishes initial tasks the macros and registers correlate directly Therefore if a user applica tion does not modify the interrupt vector registers then that user may employ the macros for the entire pro gram execution If the application alters the interrupt vector registers during execution not recommended practice however the application must use the values of those registers instead of the macros Using Assembly Language rabbit com 185 For detailed information on the operation of interrupt vectors consult the chip manual for your board e g The Rabbit 4000 Microprocessor User s Manual The remainder of this section explains how to modify interrupt vectors after initialization In C the user can modify interrupt vectors through Set Vect assembly the user accomplishes the same through I XINTVEC_BASE lt vector offset gt The possible values for l
91. history will override the default setting Show register history In this mode a snapshot of the register 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 sections may be selected with the mouse then copied and pasted 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 w Register Contents 00100000 0001205C 00012058 0001205C E830 4560 FEFFE EC4C DFE 0000 E82F FFFE8435 5828116A A4261569 808B64F1 DEF8 Change Register Yaluefs Gopy Select All Switch to Editable view Ctrl aAlt R GHI G Ctrl A Ctrl Alt E A click of the right mouse button brings up the menu pictured above Choosing Change Register Value s brings up a dialog where you can enter new values for any of the reg isters except SP PC and LXPC 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 regis ters on the left and flags on the right Graphical User Interface rabbit com 269 Prz Register Contents RNx KX GH tebe ee ee wa ee ee ne oOorrFO COO Ff Decrement Register Ctril Alt D A Increment Register Ctri Alt I
92. is decremented after use int j a 12 j 12 q a j j becomes 11 then q gets a 11 r a jl jbecomes 10 then r gets a 10 s j s 10 then j becomes 9 123 j becomes 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 const int i 13 j i 10 jgetsimod 10 or 3 const int k 11 Jj k 7 j gets k mod 7 or 4 Operators rabbit com 228 15 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 b oc a gets the result of the calculation a b 0 b gets 0 and a gets 0 Addition assignment a t 5 Add 5 toa Same asa a 5 Subtraction assignment a 5 Subtract 5 from a Same asa a 5 k Multiplication assignment a 5 Multiply a by 5 Same as a a 5 Division assignment a 5 Divide a by 5 Same as a a 5 aS Modulo assignment o9 a 5 amod 5 Same asa a 5 lt lt Left shift assignment a lt lt 5 Shift a left 5 bits Same as a a lt lt 5 gt gt
93. is stored when a file is closed and restored when the file is reopened Breakpoints are set in library code the same way they are set in application code Add Edit Hardware Breakpoints lt Shift Ctrl F2 gt gt Add Edit Hardware breakpoint x Properties Hardware Breakpoint Selection aE GEICA IEE Aaaa Physical nnnnnn Segmented nnn nnnn Address hex Mask hex I Data write Data read Instruction fetch Deactivate All Close Help Hardware breakpoints were introduced with the Rabbit 4000 and are supported by Dynamic C begin ning with version 10 21 Choosing this menu item brings up the window pictured here The drop down menu allows you to select one of the six available hardware breakpoints breakpoint 0 is used internally A breakpoint can be generated on an address match by checking data write data read instruction fetch or any combination thereof There are two permissable address types physical Ox xxxxxx and segmented xxx xxxx The address type to use depends on several factors One factor is the method used to discern the desired address For example selecting one of the disassemble options from the Inspect menu opens the Assembly window and displays segmented addresses Naturally it saves time to use the address type most readily available To disable a single breakpoint select it in the drop down menu uncheck the data write data read and or the instruction fetch
94. keyword when used in a variable declaration tells the compiler to allocate storage for that variable from the far memory space a k a the physical address space The far qualifier indicates that physical addressing will be used with all occurrences of the variable The far type qualifier may be used with any static or global type specifier char int struct etc The far qualifier may appear before or after a basic or aggregate type When modifying a pointer the far keyword appears after the in the declaration The use of far is very similar to that of the const qualifier in that it may only be applied to global or static variables However as shown in Example 1 far may come before or after the basic type allowing far after the type is compatible with some other compilers that support the far qualifier An error will be generated if far is applied to auto variables function parameters or function return values This restriction does not apply to pointer to far as shown in the examples below Keywords rabbit com 197 Example 1 xis an integer variable in xmem y is also an integer variable in xmem GIGS aee limi F statie ime teie yp The following is prohibited Seere irere aine Gea Ap The exception is pointers if a pointer to far is declared as is shown in Example 2 it can be used any where a normal pointer may be used including autos parameters and return types Example 2 also show
95. lets you set flyover hint evaluation of any expression that can be watched without having to explicitly set the watch expression See Watch on page 292 and Watch Window on page 272 for more details Delete Watch Removes highlighted entry from the Watches window Delete All Watches Removes all entries from the Watches window Update Watch Window lt Cirl 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 exe cution 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 execu tion on the target Disassemble at Address lt Alt F10 gt Brings up the Disassemble at
96. line numbers and the Background color will set the color on which the line numbers appear 16 7 1 3 Display Tab Click on the Display tab to display the following dialog xi Environment Options E goeoseegescesesoessoes sf Editor Gutter amp Margin Display Syntax Colors Code Templates Debug Windows Print Alerts Editor Font Name Use monofont Size Courier New x fio Background Colors Editor Edit Mode C Window l Editor Debug Mode M Special Symbols Window gt M Use Workspace EE App WorkSpace gt 7 EGL fr al EOE Foreground Color non syntax HM Black 9 define N 1000 const float SORT PI 1 77245385 f f the square root o char const label The square root of pi is aint int i for i 0 i lt N i printf s f n label SQRT_PI Cancel Hep 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 Graphical User Interface rabbit com 262 Special Symbols Check the box labeled Use to view end of line end of file space and or tab symbols in the editor window 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 backg
97. location and size It has 512 entries of 32 bytes each An entry in the root directory is either empty or contains a file or subdirectory name in 8 3 format file size date and time of last revision and the starting cluster number for the file or subdirectory 12 5 3 4 Data Area The data area takes up most of the partition It contains file data and subdirectories Note that the data area of a partition must by convention start at cluster 2 12 5 3 5 Creating Multiple FAT Partitions FAT version 2 13 introduces FAT_Write_MBR c a utility that simplifies the creation of multiple parti tions See Section 12 4 1 2 for information on running this utility It is distributed with FAT version 2 13 It is also compatible with FAT versions 2 01 2 05 and 2 10 If you have one of these earlier versions of the FAT and would like a copy of FAT_Write_MBR c please contact Technical Support either by email to support rabbitsemiconductor com or by using the online form www rabbit com support questionSub mit shtml Without the use of FAT_Write_MBR c creating multiple FAT partitions on the flash device requires a little more effort than the default partitioning If the flash device does not contain an MBR i e the device is not formatted both fat_Init and fat_AutoMount return an error code EUNFORMAT FAT File System rabbit com 163 indicating this fact So the next task is to write the MBR to the device This is done with a
98. lock Each socket lock uses one semaphore of type OS_EVENT Therefore the macro MAX_OS_EVENTS must take into account each of the socket locks plus any events that the application program may be using semaphores queues mail boxes event flags or mutexes Determining OS_MAX_EVENTS may get a little tricky but it isn t too bad if you know what your program is doing Since MAX_SOCKET_LOCKS is defined as define MAX_SOCKET_LOCKS MAX_TCP_SOCKET_BUFFERS MAX_UDP_SOCKET_BUFFERS H OS_MAX_EVENTS may be defined as define OS_MAX_EVENTS MAX_TCP_SOCKET_BUFFERS MAX_UDP_SOCKET_BUFFERS 2 z Multitasking with Dynamic C rabbit com 67 The constant 2 is included for the two global locks used by TCP IP and z is the number of OS_EVENTS semaphores queues mailboxes event flags or mutexes required by the program If either MAX_TCP_SOCKET_BUFFERS or MAX_UDP_SOCKET_BUFFERS is not defined by the application program prior to the use statements for ucos lib and dcrtcp 1ib default values will be assigned If MAX_TCP_SOCKET_BUFFERS is not defined in the application program it will be defined as MAX_SOCKETS If however MAX_SOCKETS is not defined in the application program MAX _TCP_SOCKET_BUFFERS will be 4
99. mapping and allowing linear access of up to 16 MB The size of the physical address space is determined by the quadrant size The quadrant size is determined by the MMU Expanded Code Register MECR This register contains the Bank Select Address setting The Bank Select Address represents the two most significant bits of the phys ical address that will be used to select among the different quadrants By defaul in Dynamic C 10 40 the MECR selects A20 and A19 thus leaving 19 bits for the address which results in a quadrant size of 512 KB and a physical address space of 2 MB Figure 10 1 illustrates how the logical address space is divided and where code resides in physical mem ory Both the static RAM and the flash memory are 1 MB in the diagram Physical memory starts at address 0x000000 and flash memory is usually mapped to the same address SRAM typically begins at address 0x100000 If BIOS code runs from flash memory the BIOS code starts in the root code section at address 0x000000 and fills upward The rest of the root code will continue to fill upward immediately following 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 0x100000 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 handboo
100. 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 The Slave Port Driver rabbit com 97 Pin assignments for the Rabbit acting as a slave are as follows Table 8 3 Pin Assignments for the Rabbit Acting as a Slave Rabbit 4000 Pins A Function Rabbit 5000 Pins PAO PA7 Slave port data bus bidirectional PB6 SCS Slave Chip Select active low to read write slave port PE7 SCS Alternate Slave Chip Select 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 For more details and read write signal timing see the microprocessor user s manual for your Rabbit chip 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 han dler functions for the channels are interruptible or non interruptible 8 1 4 Com
101. number instead of the handle returned by DMAalloc The function DMAhandle2chan provides a DMA channel number when passed a valid handle The low level functions DMAset BufDesc and DMAloadBufDesc work with a buffer descriptor associated with a DMA channel A buffer descriptor is a memory structure that controls the DMA opera tion It contains a control byte a byte count for the data a source address a destination address and an optional link address Low level transfer functions are provided for use with the buffer descriptor func tions They are DMAstartAuto andDMAstartDirect Sample programs located in Samples Rabbit4000 DMA illustrate many of the API functions 11 3 DMA Interrupts An interrupt may be requested when a DMA channel has completed transferring data All channels assert this type of interrupt at the same priority level which can be set to level 1 2 or 3 with a call to DMAsetParameters Whether or not an interrupt is requested at the end of a transfer is determined by flag options in the DMA transfer function See Section 11 4 4 for more information Each channel has its own interrupt vector in the processor s external interrupt vector table 11 4 DMA Transfer Information A DMA transfer is requested when the channel wants the DMA controller to take control of the address and data buses 11 4 1 DMA Transfer Priority DMA transfers may be programmed to occur at any priority level 0 1 2 or 3 Relat
102. 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 Graphical User Interface rabbit com 258 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 com mands 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 Overwrite Blocks Check this option to enable overwriting a selected block of text by pressing a key on the key board 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 in the line When this option is unchecked double clicking will select the closest word to the left of the cursor
103. pro grams demonstrating the use of the far keyword The sample far_demo c shows how to declare a local variable that will be stored in far memory which means it must be declared st at ic and accessed just like any other local variable The sample LinkedList c demonstrates far pointers and includes a library LinkedList LIB that creates and maintains a linked list in the far memory space 4 4 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 Standard syntax for a pointer to a function is returntype name argument list for example ime iwimel ime a ime Io voie rune chers You can pass arguments to functions that are called indirectly by pointers and the compiler will check them for correctness if an argument list is provided in the function pointer declaration This means that the auto promotions provided by Dynamic C type checking will automatically be applied For example if a function takes a long as a parameter and you pass it a 16 bit integer value it will be automatically cast to type long in order for 4 bytes to be put onto the stack as would happen with a normal function call Language rabbit com 22 Prior to version 10 62 Dynamic C did not reco
104. project list file must be created Ctrl Ins separately New File Creates a new c file opening a new editor window file must be Crtl4N added to the project separately Edit File Opens the currently selected file for editing you can also double Enter click on a file in the list Remove File Removes the currently selected file from the project list does NOT delete the file Del Run Project Compile download and run the current project on the attached target F9 when Project Explorer has focus Compile Project Compile and download the current project to the attached target F5 when Project Explorer has focus Graphical User Interface rabbit com 291 Compiling Projects Pressing F5 with the Project Explorer window in focus compiles the entire project Similarly F9 runs the entire project Without the Project Explorer window in focus Dynamic C functions exactly as previous versions F5 compiles the current file in focus and F9 runs it There are also a few additional menu items to facilitate compilation of projects There are targeted compile options for Flash RAM and compiling to BIN file in addition to a Compile Project option which is the same as the operation accessible through the Project Explorer window There is also a Run Project option under the Run menu which can be used to run the currently loaded project at any time Debug Windows Debug Windows JQ watch Alt F11
105. recommended for two reasons First because the function will be compiled with any application that uses the library and 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 Second auto local variables are not visible to the debugger when a function is defined not prototyped within a module header This means that attempting to set a watch or evaluate expression on such a vari able will result in an out of scope not declared error or the variable s stated value will not be correct 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 impor tant to set for example class auto for some library modules and class static for others the appropri ate 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 c
106. result in a dump of a 1M region 0x00000 Oxfffff A dump of an xpc offset address nn mmmm will result in a segmented dump range of 4k 64k or Full Range depending on the size set on the Debug Windows tab on the Options Environment Options menu 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 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 Goto Execution Point lt Ctri E gt When stopped in debug mode this option places the cursor at the statement or instruction that will exe cute next Graphical User Interface rabbit com 256 16 7 Options Menu Click on the Options menu title or press lt Alt O gt to select the Options menu 16 7 1 Environment Options Dynamic C comes with a built in full featured text editor It may be customized to suit your style using the Environment Options dialog box The dialog box has tabs for various aspects of the editor Note that keyboard shortcuts for some of the options have no character to underline so the character is shown between brackets For example when the Editor menu options are visible Alt Q is the key board sh
107. signal polarity selecting type of strobe signals transac tion timing and whether or not to enable handshaking e DMA includes configuring parallel port pin assignments for triggering external DMA requests and transfer mode e Quadrature Decoder includes configuring interrupt priority level counter width 8 or 10 bits assign ing parallel port pins for quadrature decoder inputs and determining PCLK prescaler and timer A10 divisor e Slave Port includes configuring interrupt priority level enabling disabling the slave port and the exter nal I O bus V 1 2 Library File Encryption The Library File Encryption Utility Encrypt exe allows distribution of sensitive runtime library files The encrypted library files compile normally but cannot be read with an editor The files will be automati cally 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 To use this utility double click on the program name Encrypt exe The following window will appear E Encrypt Dynamic C Library Files Add Files to Encrypt Help Optional copyright notice to put at start of each encrypted file File s to encrypt and save with extension eib Complete instructions are available by clicking on the H
108. the left operand is greater than or equal to the right operand and 0 otherwise if i gt j body executes if i gt j OK a gt b true when a gt b Operators rabbit com 232 15 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 LEC di JJ body executes ifi j OK a true whena b Note that the operator is not the same as the assignment operator A common mistake is to write if ai j H 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 operand is not equal to the right operand and 0 otherwise if i j body executes if i j OK a b true when a b Operators rabbit com 233 15 6 Logical Operators amp amp 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 operand 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 equiva
109. 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 however using this compiler directive with static is deprecated starting with Dynamic C 10 44 The default storage class can be superseded by the use of the keyword auto or static in a variable dec laration These keywords 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 The register type is reserved but is not currently implemented Dynamic C will change a variable to be of type auto if register is encountered Even though the register keyword is not implemented it still can not be used as a variable name or other symbol name Its use will cause unhelpful error mes sages from the compiler 4 2 Pointers Pointer checking is a run time option in Dynamic C Use the Compiler tab on the Options Project Options menu Pointer checking will catch attempts to dereference a pointer to unallocated memory 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
110. 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 application programs will have some flavor of this simple structure main SiMe Le while 1 endless loop for multitasking framework costate task 1 body of costatement costate task 2 oe body of costatement 5 2 A Real Time Problem The following sequence of events is common in real time programming Start 1 Wait for a push button to be pressed 2 Turn on the first device 3 Wait 60 seconds 4 Turn on the second device 5 Wait 60 seconds 6 Turn off both devices 7 Go back to the start 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 Multitasking with Dynamic C rabbit com 34 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 case 1 if buttonpushed tasklistate 2 cuicnoncdey Lee g timerl time time incremented every second break case 2 if time timerl
111. the system tasks OSTaskCreate RandomNumberTask NULL 1024 i semaphore to control access to random number generator RandomSem OSSemCreate 1 4 Set number of system ticks per second OSSetTicksPerSec OS_TICKS_PER_SEC Begin multi tasking OSStart Multitasking with Dynamic C rabbit com 66 void RandomNumberTask void pdata Declare as auto to ensure reentrancy auto OS_TCB data auto INT8U err auto INT16U RNum OSTaskQuery OS_PRIO_SELF amp data while 1 Rand is not reentrant so access must be controlled via a semaphore OSSemPend RandomSem 0 amp err RNum int rand 100 OSSemPost RandomSem printf Task 02d s random Sd n data OSTCBPrio RNum Wait 3 seconds in order to view output from each task OSTimeDlySec 3 5 10 5 Compatibility with TCP IP The TCP IP stack is reentrant and may be used with the uC OS II real time kernel The line use ucos2 lib must appear before the line use dcrtcp lib A call to OSInit must be made before calling sock_init 5 10 5 1 Stack Size The TCP IP stack requires a p C OS II task to have a minimum stack size of 2K Recall that the number of 2K stacks is defined by STACK_CNT_2K If there are problems with sending a packet try increasing the stack size to 4K 5 10 5 2 Socket Locks Each socket used in a uC OS II application program has an associated socket
112. to construct what is called an value For example ELON 2p char amp x Ox17 low byte of x gets value When the data types for an operation are mixed the resulting type is the more precise cloar Kp We BP ine Shy Tye k Glaeie P a ff see same as float i x j kR tc 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 the the value of i converted to floating point The operators are summarized in the following pages 15 1 Arithmetic Operators Unary plus or binary addition Standard C does not have unary plus Unary plus does not really do any thing b 10 5 binary addition z y just for emphasis Unary minus or binary subtraction a b 10 5 binary subtraction z y z gets the negative of y Operators rabbit com 226 Indirection or multiplication As a unary operator it indicates indirection When used in a declaration indicates that the following item is a pointer When used as an indirection operator in an expression pro vides the value at the address specified by a pointer int p pis a pointer to an integer int J j 45 p amp j p now points to j k p K gets the value to which p points k 45 p 25 Same as j 25 since p points to j Bewa
113. to main when the stack was traced at the breakpoint in the function mycmp C Dynamic C ersions ea it user defined c ink mycmp int Seas rat Beturn fp q ae int i copy initialized data to RAM memcpy p 2 sizeof 0 s OxZ cmp 0xl423 i 0x0 j 0x9 _n_ qsort base n O0xA maini i OxEs4C gt Depth 37 Max Depth Traced 37 ds Dynamic C User s Manual rabbit com 82 6 2 11 Assert Macro 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 noth ing 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 mac ro http www embedded com story OEG20010311S0021 Side effects can occur if the assert macro is not coded properly e g assert 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 accurate Check for a NULL pointer before usin
114. 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 10 4 Dynamic Memory Allocation A Dynamic C application can allocate a pool of memory at compile time for dynamic allocation and deal location of fixed size blocks at run time A pool can be located in root or extended memory Descriptions 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 Read the comments at the top of LIB POOL LIB for a description of how to use dynamic memory allocation in Dynamic C Memory Management rabbit com 131 11 DIRECT MEMORY ACCESS Dynamic C version 10 introduced support for the internal DMA controller of the Rabbit 4000 micropro cessor DMA stands for Direct Memory Access The DMA controller takes control of the address and data bus from the CPU so that data transfers occur without processor handling There are eight DMA chan nels a DMA channel i
115. 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 cofunction might look like this waitfordone SendSerial string of characters next statement The next statement will execute after the last character is sent 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 Task1l 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 con tinue to be called If one of the cofunctions should abort then the waitfordone statement will abort and corrective action can be taken Multitasking with Dynamic C rabbit com 48 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 costatements Figure 5 6 Costatement as Part of Real Time Task enter every n milliseconds costate costate costate
116. window you need to cd into the directory where the command line compiler resides From there you must type in the relative path of the sample you want to compile Quotes are need if there are spaces in the path For example gt cd c DCRabbit_10 40 gt dccl_cmp samples memory_usage c gt dccl_cmp c My Documents my program c 17 1 Default States The command line compiler uses the values of the environment variables that are in the project file indi cated 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 18 Project Files on page 316 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 Com mand 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 compile mode can be overridden with the switches described in Section 17 4 17 2 User Input Applications requiring user input must be called with the i option dccl_cmp myProgram
117. x evaluates to 0 sta evaluates to 2 and s b evaluates to 2 both expressions evaluate to the same value because both a and b are offset 0 from a and finally s c evaluates to 4 because s a evaluates to 2 and a c evaluates to 2 13 3 Stand Alone Assembly Code A stand alone assembly function is one that is defined outside the context of a C language function A stand alone assembly function has no auto variables and no formal parameters It can however 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 and is not a pointer long unsigned long float the primary register is BC DE with register B containing the most significant byte If the first argument is a four byte pointer far the primary register is PX Assembly language code can use the first argument very effi ciently 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 BC DE or PX Assembly language allows assumptions to be made about arguments passed on the stack and auto vari ab
118. you did not receive this message or you get a communication error recompile the BIOS by pressing lt Ctrl Y gt or select Reset Target Compile BIOS from the Compile menu e A message reports No Rabbit Processor Detected in cases where the wall transformer is not con nected or not plugged in e The programming cable must be connected to the controller The colored wire on the programming cable is closest to pin 1 on the programming header on the controller The other end of the program Quick Tutorial rabbit com 13 ming cable must be connected 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 e To check if you have the correct serial port press lt Ctrl Y gt If the BIOS successfully compiled message does not display choose a different serial port in the Communications dialog 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 F To experiment with single stepping we will first compile DEMO1 C to the target without 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 co
119. 00 40 slice_b 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 for pF t costate slice 500 20 slice_a waitfor IntervalTick 80 silica 500 50 4 slice_b waitfor IntervalTick 105 Multitasking with Dynamic C rabbit com 52 Example 3 This approach is more complicated but will allow you to spend the idle time doing a low priority back ground task main Lime eile nle nE lomeg Sicaiwe_itiimes For Cron start_time TICK_TIMER slice 500 20 slice_a waitfor IntervalTick 80 alice 500 50 1 slice_b lijculbtepra stan lernitecrranyzclelleilusie kan Gln OP ma cime ete 75 VLOK VIMAR Sit ace _iesme 2 if time_left gt 0 slice 500 75 TICK_TIMER start_time slice_c 5 10 pC OS II uC OS II is a simple clean efficient easy to use real time operating system that runs on the Rabbit microprocessor and is fully supported by the Dynamic C development environment With Dynamic C there is no fee to pay for the Object Code Distribution License that is usually required for embedding uC OS II in a product uC OS II is capable of intertask communication and synchronization via the use of semaphores mail boxes and queues User definable system hook
120. 05 TEISTE mosense in i a 205 PO DUNE ee Ee EEEE 206 TOOG suree aeetasoneeee 206 SCOLUNC ccececccesesssceecesenseececesereeeeeeees 206 SCOCHAIN oorsien sitis 207 shafed scssseiieersiereseorerisiiirereieerissreeiirrie 207 SHOM EEE E E ETE 207 SIZE e E E eae 208 Index rabbit com 345 Speedi srki oi n n as 208 SLANG pannor ernen s 208 SUCE sorterer e EE 209 SWITCH ariora nisi 210 typed f srriresrrire erreser irass 210 TION pr on asi e eie a 211 UNSIGNE eee eeeeeeeeeceseeceeeecteeeeeeeteeees 211 UISCIX Sika ar EEEE EEE 211 VOI DE ETET 214 Volatile seis ciuetsetesteitetecteventncstiynbiweestes 215 Watora ie 212 waitfordone oo eee eeeeeeeeeeeeeeees 212 WS sss cssches cusssedereinesastenstenteelldeesenrnsese 213 KGAA seiteanna E 213 AMEN sesioa roine erresa Er Ere E EESE 214 RSCG serapin renra aE ee 215 yield eree aes 215 L language elements s sssessseeeseeeeseeereeeee 189 OPSLALOLS seese EE EErEE 225 DAIT peirers 26 27 31 222 HDi ES aa 9 26 WKS serseri rares resia eaves 26 real time programming eee 9 Writing YOUL OWN eee ee eeseeeeeeeeeeeees 28 Library Help lookup ee 32 297 nKINg cronain i E 9 list TUES ieiienseironeenere oerein 278 locating errors sseesseeeserereersrrereerereereseee 247 long KEY WOE ciseiseesscsseisenescasesesesseasesosbesynsses 203 lookup function oo eee seeeeeeeee 297 loops delay with MS_TIMER 94 dO ee oko T 196 FOR paee E AEE R A es 201 timing
121. 2 Color GrayT ext 9 Line Numbers Colors y Style Foreground MI Black v l 4 x Background E White gt Position eo define N 1000 const float SORT PI 1 77245385 thes root of j sguare root char const label The square root of pi is r aini int i for i 0 i lt N i printf ss f n label SORT _PI 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 dialog does not update the gutter width you must click on the button Use the Color pulldown 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 various dashed lines The Position scroll box is used to place the margin at the desired location in the text window Graphical User Interface rabbit com 261 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
122. 230400 256000 Stopbits 1 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 Time in milliseconds Dynamic C waits for a response from the target on any retry while trying to establish serial communication 300 ms None Command Line Interface rabbit com 312 Example dccl_cmp myProgram c sto 400 17 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 dccl_cmp samples 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 fo
123. 4159265 float func float par Keywords rabbit com 200 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 anendless 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 if 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 elsef 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 i parts The else is optional and executes only when none of the if orelse if expressions are true non zero Keywords rabbit com 201 init_on The costatement is initially on and will automatically execute the first time it is encountered in the execu tion thread The costatement becomes inactive after it completes or aborts int Declares variables func
124. 4a loyces gt This shows that DIR1 was created and is 1024 bytes size may vary by flash type Now select DIR1 gt ed dirl PWD 9 elaiied gt Add a new file called RABBIT TXT gt touch rabbit txt Pile dirl rabbit tzt created with 1024 bytes gt Note that the file name was appended to the current directory Now we can write to RABBIT TXT The shell program has predetermined characters to write and does not allow you to enter your own data gt wr rabbit txt File dirl rabbit txC written with 1024 bytea out of 1024 gt FAT File System rabbit com 144 To see what was written use the rd command gt rd rabbit txt rabbit txt 1024 The quick brown fox jumps over the rabbit txt 1024 The quick brown fox jumps over the azy dog azy dog rab Read 1024 bytes out of 1024 gt 12 3 2 Non Blocking Sample To use the FAT file system in non blocking mode do not include the statement define FAT_BLOCK in your application The program interface to the library is the same as the blocking version with the exception of the return code EBUSY from many of the API functions The sample program Fat_NB_Costate cinthe Samples FileSystem folder is an example of a non blocking application To view the code in its entirety open it in Dynamic C The following discussion will not examine every line of code but wi
125. 643 EF rst 0x28 asmi ct 8 lg 0x44556677L 1b44 117766 ld de Ox6677 1b47 015544 ld be 0x4455 ib4a DDEFOO ld sp 0x00 bede ib4d EF rst 0x28 asm1 c 9 func ch i 1g ib4e DDFS push bede 1b50 c408 ld hl sp 0x08 1b52 ES push hl 1b53 c40c ld hl sp Ox0C 1b55 2600 ld h 0x00 ib57 ES push hl 1558 CD671B call func ib5b 00 nop ib5c 2708 add sp amp ibSe EF rst 0x28 x Selected Clock Cycles Sum a The Disassembled Code window shows 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 bottom of the window when the block is selected The total assumes one execution per instruction so the user must take looping and branching into consideration when evaluating execution times Using Assembly Language rabbit com 179 13 3 6 Local Variable Access Accessing static local variables is simple because the symbol evaluates to the address directly The follow ing code shows for example how to load static variable y into HL diel nil y load hl with contents of y 13 3 6 1 Using the IX Register as a Frame Pointer Using IX as a frame pointer is a convenient way to access stack variables in assembly Using SP requires extra bookkeeping when values are pushed on or popped off
126. 84f EDB Data write I Data tread IV Instruction fetch 000 e851 CC 000 e852 CA6E 000 e855 C361 000 e858 EF Hardware breakpoints cause the processor to stop at the address logically after the break address specified thus Hardware Breakpoint 1 is set for 000 e83e but program execution stopped at 000 e840 The PC was incremented twice for the 2 byte opcode of the ld instruction For an instruction fetch breakpoint the proces sor will stop after executing the instruction at the breakpoint address In addition to debug windows the MAP File can be used to find out addresses for code and data The map file is a rich source of memory mapping information listing everything from local variables to the origin and size of code and data segments Setting a hardware breakpoint on some internal I O addresses can lead to a target communication error Since setting a breakpoint mask to Oxffffff will include all in ternal I O address the address and mask should be set to include only the intended range of addresses Starting with Dynamic C 10 54 hardware breakpoints are disabled when code is ex ecuting within the debug kernel Dynamic C User s Manual rabbit com 6 2 5 Single Stepping Single stepping can be a very useful debugging technique 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
127. Address dialog where you can enter an address at which to begin disas sembly 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 Disassembled Code window displays the result See Assembly F10 on page 293 for details about this window Graphical User Interface rabbit com 254 Dump at Address lt Ctrl 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 highlights differences 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 Memory Dump Setup Memory Dump Dump Address ox0000 X I Save entire flash to file M Save to file Number of bytes File name BI OK Cancel Help 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 simply starts dumping physical memory at address zero When displaying on a screen a Memory
128. AutoMount will not erase and overwrite a factory formatted removable device such as an SD card If you are using an SD card run Fmt __Device c or erase the first three pages with the appropriate flash utitity sdflash_inspect cornflash_inspect c FAT File System rabbit com 136 After the device has been formatted open Samples FileSystem fat_create c Compile and run the program by pressing function key F9 In a nutshell fat_create c initializes FAT then creates a file writes Hello world to it and then closes the file The file is re opened and the file is read which displays Hello world in the Dynamic C Stdio window Understanding this sample will make writing your own FAT application easier The sample program has been broken into two functional parts for the purpose of discussion The first part deals with getting the file system up and running The second part is a description of writing and reading files 12 2 1 Bringing Up the File System We will look at the first part of the code as a whole and then explain some of its details File Name Samples FileSystem fat_create c define FAT_BLOCK use blocking mode fuse fat lib of FAT library FATfile my_file get file handle char lowe 128 p 128 byte buffer for read write of file int main aoe ag int co Check return codes from FAT API long prealloc Used if the file needs to be created EVE _jOGIEE rirstipare
129. B Ol OO OO FD Fl ED D A3 06 ED D6 FD FS Ga Ride itys DD Fl DD FS 21 4D B4 DD Fl DD 1B 21 4D B4 DD 1A YAYS M YAY M DD FS CD A 03 27 04 22 8B B4 21 8B B4 DD E4 00 YOig lt lt Ya ES CD 74 04 27 O2 DD FS 2A DF B EB 0l 00 OO FD Ait Yd H Fl ED D A3 06 ED D6 FD FS DD Fl DD FS 21 4D B4 AiGE iOySYAYS IM 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 ASCH 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 Win dows tab in Options Environment Options Select Memory Dump under Specific Preferences then check the option 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 The Memory Dump window is capable of displaying three different types of dumps A dump of a log ical address Ox mmmm will result in a 64k scrollable region 0x0000 Oxffff A dump of a physical address 0x mmmmm will
130. CON TAINED IN THE SOFTWARE WILL MEET YOUR REQUIREMENTS OR THAT THE OPERA TION OF THE SOFTWARE WILL BE UNINTERRUPTED OR ERROR FREE OR THAT DEFECTS IN THE SOFTWARE WILL BE CORRECTED FURTHERMORE RABBIT DOES NOT WARRANT OR MAKE ANY REPRESENTATIONS REGARDING THE USE OR THE rabbit com 339 oo RESULTS OF THE SOFTWARE IN TERMS OF ITS CORRECTNESS ACCURACY RELI ABILITY OR OTHERWISE NO ORAL OR WRITTEN INFORMATION OR ADVICE GIVEN BY RABBIT 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 EXCLU SION MAY NOT APPLY TO YOU Limitation of Liability YOU AGREE THAT UNDER NO CIRCUMSTANCES INCLUDING NEGLIGENCE SHALL RABBIT BE LIABLE FOR ANY INCIDENTAL SPECIAL OR CONSE QUENTIAL DAMAGES INCLUDING DAMAGES FOR LOSS OF BUSINESS PROFITS BUSINESS INTERRUPTION LOSS OF BUSINESS INFORMATION AND THE LIKE ARIS ING OUT OF THE USE AND OR INABILITY TO USE THE SOFTWARE EVEN IF RABBIT 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 CONSEQUENTIAL DAMAGES SO THE ABOVE LIMITATION OR EXCLUSION MAY NOT APPLY TO YOU IN NO EVENT SHALL RABBIT S TOTAL LIABILITY TO YOU FOR ALL DAMAGES LOSSES AND CAUSES OF ACTION WHETHER IN CONTRACT TORT INCLUDING NEGLIGENCE OR OTHERWISE EXCEED THE AMOUNT PAID
131. CoReset CoData p This function initializes a costatement s CoData structure so that the costatement will not be exe cuted the next time it is encountered void CoResume CoData p This function unpauses a paused costatement The costatement resumes the next time it is called Multitasking with Dynamic C rabbit com 41 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 User defined firsttime functions are allowed The following firsttime functions are defined in COSTATE LIB DelayMs DelaySec DelayTicks IntervalMs IntervalSec IntervalTick For more information see the Dynamic C Function Reference Manual These functions should be called inside a wait for 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 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 Costate ments and cofunctions depend on these timer variables being valid for use in wait for statements that call functions tha
132. Dump window is opened A typical screen display appears below Although the cursor is not visible in the screen capture below of the Memory Dump window it is hovering over logical memory location 0x013c which has a value of 0x79 This information is given in the fly over text and also 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 Graphical User Interface rabbit com 255 Memory Dump 013c 79 E Oj x Update Button gt C3 00 CB SF CO 79 D3 32 CO 00 CS 44 79 6E 61 6D _ y Z Dynam 69 43 55 6E 69 76 65 72 73 61 6C 20 57 Al 6 62 iCUniversal Rabb 69 74 20 42 49 4F 53 20 56 65 72 73 6013c 79 20 it BIOS Version 31 30 2E 30 30 3B ED 54 6F 7C ED 67 7D ED 54 33 10 00 iTolig iT3 33 C9 FS 3E SA D3 32 08 00 Fl C9 DD 2A 99 B4 DD 3k5 gt 202 ARY Y E9 C3 7B Ol FF FF 03 00 00 00 O00 21 49 B4 DD 1A II DD FS 93 DB B FD Fl ED D FD FS DD Fl DD FS CD YS U yHibysvAyvSt A 03 27 04 22 89 B4 2A ES B CC CA DA O1 21 49 HK e TEU IT B4 DD 1A DD FS 93 E4 B FD Fl ED D FD FS ZA ES a HRiOyS s B 29 EB Ol 00 00 FD Fl ED D FD FS DD Fl DD FS j i Z1 4D B4 DD Fl DD 1B C3 55 OZ 2A DF B CC CA 47 IM U 6 G 02 21 89 B4 DD E4 OO ES CD 74 04 27 OZ DD FS 2A h Ya ain Yd DF B7 E
133. ETURN VALUE 0 Success 1 Failure LIBRARY MASTER_SERIAL LIB The Slave Port Driver rabbit com 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 available 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 The Slave Port Driver rabbit com 108 MSinit int MSinit int io_bank DESCRIPTION Sets up the connection to the slave PARAMETERS io_bank The I O bank and chip select pin number for the slave device This is a num ber 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 address 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
134. E_4k determiness the boundary between root vari able data and the combination of root code and root constant data Note that root constants are in the base segment with root code In this case increasing ROOT_SIZE_4K increases root code and root constant space and decreases root data space e Compile out floating point support Floating point support can be conditionally compiled out of stdio 1lib 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 e Reduce usage of root constants and string literals Shortening literal strings and reusing them will save root space The compiler automatically 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 e Use the far keyword to directly declare variables in xmem See Section 4 3 and Chapter 14 for more information on the far keyword Turn off selected debugging features Watch expressions breakpoints and single stepping can be selectively disabled on the Debug ger tab of Project Options to save some root code space e Place assembly language code into xmem Pure assembly language code
135. FIL_SYSTEM filter on system attribute e FAT FIL LABEL filter on label attribute e FAT_FIL_DIR filter on directory attribute e FAT FIL ARCHIVE filter on modified attribute CI If you set mode to FAT_INC_ACTIVE FATATTR_READ_ONLY FAT_FIL_RD_ONLY FATATTR_ARCHIVE the result will be the next active file that has its read only attribute set and has the archive attribute in either state NOTE If you have FAT version 2 05 or earlier you do not have access to the FAT_FIL_ macros Default Search Flags To make things easier there are two predefined mode flags Each one may be used alone or in combination with the macros already described e FAT_INC_ALL selects any directory entry of any type e FAT_INC_DEF selects the next active file or directory entry including read only or archived files No hidden system label deleted or empty directories or files will be selected This is typically what you see when you do a directory listing on your PC Search Flag Examples Here are some more examples of how the flags work 1 If you want the next hidden file or directory Start with the FAT_INC_DEF macro default flag This flag does not allow hidden files so we need FATATTR_HIDDEN Then to narrow the search to consider only a hidden file or directory we need the macro FAT_FIL_ HIDDEN to filter on files or directories that have the hidden attri
136. Flash and TN217 Binary and Source Compatibility Issues for 4K Flash Sector Sizes at Rabbit s website rabbit com 19 3 3 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 corrupted xalloc will allocate blocks of RAM in extended memory It will allocate the blocks consistently from the same physical address if done at the beginning of the program and the program is not recompiled 19 4 Root Memory Reduction Tips Customers with programs that are near the limits of root code and or root data space usage will be inter ested in these tips for saving root space For more help see Technical Note TN238 Rabbit Memory Usage Tips This document is available by choosing Online Documentation from the Help menu of Dynamic C or at at rabbit com 19 4 1 Increasing Root Code Space Increasing the available amount of root code 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 to double the am
137. I 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 Command Line Interface rabbit com 301 id Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Example Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Enable automatic detection of internal RAM Internal RAM will be automatically detected None Disable automatic detection of internal RAM Set to false only for Rabbit 4000 CPUs Internal RAM will be automatically detected None 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 KEKE K K K K K K K K K K K KK K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K 4 5 01 2 47 16 PM decl_cmp exe Version 10 40P English samples demol c Options h o myoutput
138. IRILY p The first parameter my_part points to a partition structure This pointer must point to a mounted parti tion Some of the sample programs like fat_create c declare a local pointer and then search for a partition pointer in the global array fat_part_mounted Other sample programs like fat_shell c define an integer to be used as an index into fat_part_mounted Both methods accomplish the same goal of gaining access to a partition pointer The second parameter contains the directory or subdirectory name relative to the root directory If you are creating a subdirectory the parent directory must already exist Once DIR1 is created as the parent directory a subdirectory may be created and so on ce fat CreateDir my parc DIRI CUBDIRY Note that a forward slash is used in the pathname instead of a backslash Either convention may be used The backslash is used by default To use a forward slash instead define FAT_USE_FORWARDSLASH in your application or in FAT LIB A file can be created using the fat__CreateFile function All directories in the path must already exist re fat_CreateFile my_part DIR1 SUBDIR FILE TXT amp prealloc my_file The first parameter my_part points to the static partition structure set up by fat_AutoMount The second parameter contains the file name including the directories if applicable relative to the root di
139. L SP again points to the low boundary of the call frame e Registers not preserved In Dynamic C the caller is responsible for saving and restoring all registers 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 contrast to normal functions interrupt functions are responsible for saving and restoring all registers them selves e Relocatable code Jump relative JR instructions allow easier code relocation because the jump is relative to the current program counter For example RAM functions are usually written in assembly and are relocated to RAM from flash A jump JP instruction would not work in this case because the jump would be to a flash location and not the intended RAM location Using JR instead of JP will jump to the intended RAM location Using Assembly Language rabbit com 188 RABBI TE 14 KEYWORDS A keyword is a reserved word in C that represents a basic C construct It cannot be used for any other pur pose 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 forcibly 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
140. L Z gt lt F2 gt Toggle Breakpoint lt F3 gt Pind NeXt cictatiinieneacs 246 lt F5 gt Compile ssscescteccccniestitinn 248 lt F7 gt Trace INO Ascsssisiseinsesiviassasneseeses 250 lt F8 gt SUP OVER ensenis 250 lt F9 gt RUT einean 250 KeyWords sessie orioko srest 182 189 204 ADON e aa 189 iYe n E 189 aAlWayS ON ssrisisisesresrsrsssrenrsikenresersenss 190 FLOAN ASA a o NESS E E 190 ASIN aeaee e ae EEES NE 190 FENIE O E TEE E A E E 191 DOA nen ak 191 Dieak ere E 192 EE A AEE EE ANETE 192 E S N AE AE EE PE E E 192 Nan eea ee 193 COPING siccccsvcssessessecsscssvessessssteavessteescers 193 CONSE sareen a E N 171 COMUUMUC cceeeeccecssssceeceessteeeceessaeeeees 195 COSTAE 2 bec cacies ster E S 195 EDU sssssessnsieestsosscrsersesvastenssesiveeasabsenest 195 Cefault oo ccccesseecceessseceeeeesseeeees 196 DO EE EEE E AE AEE T 196 I EE EEA E E ET 196 AIEN a EE SADEN E E E EEE 197 DA E a EA EEE E A E 197 LAR EA E EEA A A EN 197 PSOM E neer 200 MOa E eee ialce ince essere veeransices 200 POM seee eeeivts sesccheaetseeticeers 201 DOUG a scsoreedenicondssdnedecenssiensicessecensesencessess 201 UE eer deavaddeudueys 201 TIE 0 1 E AE A 202 TM PAE ENEE EAE EER 202 interrupt psieeetesicingeius irenste ars 202 JONS an a es ne 203 MOCEDUG s sissesssnsscnesssvesssensrseeceseaseseess 203 MOISE aoreet en EEES EE 204 MOUSEIK Koer rearea Et 204 NULDE cette eE 204 protected sccar tersestrsireiio ea 2
141. M LIB The Slave Port Driver rabbit com 121 8 3 3 2 Byte Stream Sample Program This program Samples SlavePort Slave_Demo c runs on a slave and implements a byte stream over the slave port class auto use slave_port lib use sp_stream lib tdefine STREAM BUFFER _SIZE 31 main Gnaw owiec Lols 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 SPLScicSaiml stream joc icy setup buffers COUI _almiit Stream _aimlowit SURVAM NUN IR S AEDE stream inbuf stream_inbuf COUI ERM EGE renne EOU SIREVAM IOI IR SI Als p stream outbuf stream_outbuf SLLSamM_ Oi LScicSeimp SPinit 1 SPsetHandler 0x42 SPShandler stream_ptr while 1 bytes_read SPSread stream_ptr buffer 10 if pbytes_read SPSwrite stream_ptr buffer bytes_read RONE The Slave Port Driver rabbit com 122 RABBI TE 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 Windows mes sage 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 time
142. MATSTR name s n define DEF1 10 16 7 2 5 Targetless Tab Click on the Targetless tab to reveal three additional tabs RTI File Specify Parameters and Board Selection The setup for targetless compile may differ for some board series Please check your user manual for differences in setup 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 RTI file Details follow Graphical User Interface rabbit com 285 Specify Parameters This is where you may define the parameters of a controller for later use in targetless compila tions Project Options x Include Path Communications Compiler Debugger Defines RTI File Specify Parameters Board Selection Board Configuration ID Code OxFFOO OxFFFF 02702 Description 58MHz RCM4000 512K SRAM 512K Flash analog 32M nand Flash CPU revision shown on chip Rabbit 4000 revision UL1T 4JCT1T v Base Frequency MHz f2 4912 x RAM KBytes E 2 Primary Flash KBytes j1 2 v Macros CLK_DBL 1 68RD_OPTO 0s1 MDO 01 MDO_ID 0x2780 MDO_TYPE 0x5 MDO_SIZE Update Board Selection Save as RTI Th
143. Multiple file types can be separated by semicolons For example entering C mydirectory lib c will search all 1ib and c filesinmydirectory The Search Results window has a right click menu Dynamic C 10 21 introduces two options in this menu the ability to select all text in the window lt Ctrl A gt and the ability to delete any text selected in the window Go to Line Number Positions the insertion point at the beginning of the specified line Close all GREPS lt Alt G gt Closes all open GREP Search Results windows Previous Error lt Ctrl Alt P gt Locates the previous 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 previous error in the list and displays the offending line of code in the text window 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 execu tion 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 Graphical
144. ONSSDC _1040 LIBSRA lt gt Help Cancel 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 under neath You may scroll either of these two areas and have whatever you select in one area reflected in the other area and in the text entry box Click OK or press lt Enter gt to bring up the Function Descrip tion window 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 Graphical User Interface rabbit com 297 gt ping in C DCRABBIT_10 62 LIB RABBIT4000 TCPIP ICMP LIB i 10 x nrm een _ping lt ICMP LIB gt SYNTAX int _ping longword host longword sequence_number KEYWORDS tcpip icmp ping DESCRIPTION generate an ICMP request for host NOTE this isa macro which calls _send_ping_iface as follows _send_ping_iface host sequence_number 250 0 NULL IF_ANY that is with a hop count of 250 unspecified type of service no identifier return and any appropriate interface PARAMETER ip a
145. On boards with a single RAM bbram variables will be treated the same as normal root or far variables No warning will be given the bbram keyword is simply ignored when compiling to boards with a single RAM with the assumption that the RAM is battery backed Please refer to the function description for _xalloc for information on how to allocate battery backed data in xmem Keywords rabbit com 191 break Jumps out of a loop if or case statement while expression iri condition break I expression case 3 break c Use in assembly block to insert one Dynamic C instruction asm InitValues start_time 0 counter 250 ld hl 0Oxa0 ret endasm case Identifies the next case in a switch statement switch expression case constant case constant case constant Keywords rabbit com 192 char Declares a variable or array element as an unsigned 8 bit character char x string hello int i c char i type casting operator cofunc Indicates the beginning of a cofunction 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 orscofunc is used is followed by the data type returned void in
146. PortI 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 WrPortlI which may be any valid expression If this box is checked but a call to one of the aforementioned functions is made with non con stant arguments with the exception of the 3rd parameter for the 2 write functions then a nor mal function call is generated Graphical User Interface rabbit com 279 Advanced Button Click on this button to reveal the Advanced Compiler Options dialog Advanced Compiler Options Default Project Source File User Defined BIOS File J Use Ej User Defined Lib Directory File M Use Ej Watch Code Allow any expressions in watch expressions C Restrict watch expressions May save root code space Debug Instructions and BIOS Inclusion Include RST 28 instructions Iv C Always C Never disables debugging Auto yes when compiling to target no when compiling to bin file 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 User Defined BIOS File
147. RETURN VALUE 0 Success character was sent 1 Failure character was not sent LIBRARY MASTER_SERIAL LIB The Slave Port Driver rabbit com 105 cof MSread int cof_MSread char address char buffer int length unsigned long timeout DESCRIPTION Reads bytes from the serial port on the slave into the provided buffer Waits until at least one char acter has been read Returns after buffer is full or t imeout has expired between 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 anymore RETURN VALUE gt 0 Bytes read 1 Failure LIBRARY MASTER_SERIAL LIB The Slave Port Driver rabbit com 106 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 R
148. Run Time Errors rabbit com 126 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 Reprogramming the board using the programming cable the RFU or a RabbitLink board and starting the program again without the programming cable attached is a new deployment 9 3 3 Configuration Macros These macros are defined in Lib BIOSLIB errlogconfig lib Define these macros in your project to use them For instructions on how to do that see the Defines Tab on page 284 ENABLE_ERROR_LOGGING Default 0 Disables error logging Changing this to 1 enables error logging ERRLOG_USE_REG_DUMP Default 1 Include a register dump in log entries Changing this to zero excludes the register dump in log entries ERRLOG_STACKDUMP_SIZE Default 16 Include a stack dump of size ERRLOG_STACKDUMP_STIZE in log entries Changing this to zero 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 1 includes 8 byte error mes sages in log entries The default error handler makes no use of this feature Run Time Errors rabbit com 127 9 3 4 Error Logging Functions The run time error logging API consists of the following functions errlogGetHeaderI
149. SEM_EN OS_TICKS_ PER_SEC STACK_CNT_256 Max number of events semaphores queues mailboxes Default is 10 Maximum number of tasks less stat and idle tasks Default is 10 Max number of queues in system Default is 2 Max number of memory partitions Default is 1 Enable normal task creation Default is 1 Disable extended task creation Default is 0 Disable task deletion Default is 0 Disable statistics task creation Default is 0 Enable queue usage Default is 1 Disable memory manager Default is 0 Enable mailboxes Default is 1 Enable semaphores Default is 1 Number of ticks in one second Default is 64 Number of 256 byte stacks idle task stack Default is 1 Multitasking with Dynamic C rabbit com 63 STACK CNT 512 Number of 512 byte stacks task stacks initial program stack Default is OS_MAX_TASKS 1 11 If a particular portion of uC OS II is disabled the code for that portion will not be compiled making the overall size of the operating system smaller Take advantage of this feature by customizing uC OS II based on the needs of each application 5 10 4 2 Custom Configuration In order to customize uC OS II by enabling and disabling components of the operating system simply redefine the configuration constants as necessary for the application define OS MAX EVENTS 2 define OS _MAX TASKS 20 define OS _MAX OS 1 define OS MAX MEM PART 15 defi
150. Show file is being updated The next block of code appends the latest entry into the file that was opened at the start of the application while ocount lt REC_LEN Loop until entire record is written Wiclelbiepis han a t Ch ratini ite c e Opern RECERLEN OCount E EBUSY aa Gae lt 4 printf Wie Write ro din ro while re fat_UnmountDevice first_part gt dev EBUSY wee licign EC Ooi re Move output pointer eCoume ieee Add number of characters written fillestare Op Show file is idle Again wait for is used to voluntarily relinquish control this time while waiting for the write function to complete If an error occurs during the write operation the device is unmounted and the application exits Otherwise the loop counter and the buffer position pointer are advanced by the number of bytes actually written Since this can be less than the requested number of bytes it is best to check in a loop such as the while loop shown in putdata The last action taken by put data is to reset filestate indicating that the open file is available 12 3 2 2 Costatement that Reads and Displays a File The costatement named showdata waits for ten seconds Then it waits for the open file to be available and when it is immediately marks it as unavailable costate showdata always_on waitfor DelaySec 10 waitfor filestate 0 filestate 2 T
151. 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 Register Internal Address of Register g Address of From Master s Register Use Name Register Perspective SPDOR 0x20 0 Command and response register SPD1R 0x21 1 Address register SPD2R 0x22 2 Optional data register SPSR Slave port status register In this protocol the only bit used is for checking the command response register 0x23 3 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 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 different location than when the it reads address 0 Table 8 2 What Happens When the Master Accesses a Slave Register Register arcs Read Write R Gets command response from Sends command to slave triggers slave slave response i 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 updated For the purposes of this protocol Only bit 3
152. Stepping 0 ee 14 Costatements 0 cee eeeeeeeeeeeeeeeeeeee 41 3 1 2 Watch Expression cee 14 5 4 5 Firsttime Functions 42 3 1 3 Breakpoint ee ceeeeeeeeeseeeeeeees 14 5 4 6 Shared Global Variables 42 3 1 4 Editing the Program 15 5 5 COPUMCtlONS cenin 42 3 2 Run DEMO2 C un eecccecsseccseeecteeeeneeeeneees 15 5 5 1 Cofunction Syntax 43 3 2 1 Watching Variables Dynamically 15 5 5 2 Calling Restrictions 0 0 43 3 3 Run DEMOB3 C ce eeeeeceeeeeeceneeeneeeneees 16 5 5 3 CoData Structure 0 0 eee 44 3 3 1 Cooperative Multitasking 16 5 5 4 Firsttime Functions c cee 44 3 4 Summary of Features ee eeeeeeseeeeeees 17 5 5 5 Types of Cofunctions 0 45 5 5 6 Types of Cofunction Calls 46 4 so cae eee EEEE i 55 7 Spedialiode Blosne 47 ae Aie AE E Mose tintes states esenteats 8 5 5 8 Solving the Real Time Problem S sisssssstsereesnsaresttstestensnasnnsnt enee st as with Cofio a aa chen 48 k i pie Ge eee 5 6 Patterns of Cooperative Multitasking 48 4 3 2 p an Se 20 5 7 Timing Considerations cceeeeeeeeeee 49 A a 5 7 1 waitfor Accuracy Limits 49 4 3 3 Multi Level Far Pointers 21 5 8 Overview of Preemptive Multitasking 50 TEES UE AONO cortices 5 9 Slice Statements vsvsvu 1111111111111111 110111 50 4 3 3 Complex Declarations siii Aa 5 9 1 Slice Syntax nnn 50 B e AA 22 59 2 USa Seis csseicb cchigc
153. 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 the big loop in your program It is necessary for proper single user cofunction abandonment handling Example echoes characters main int C serAopen 19200 L Coiliaslie while 1 loophead costate 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 statement After the first time only the original wfd statement can give this cofunction instance continuation calls until either the instance is complete or until the instance is given another first time call from a different state ment 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 end
154. This helps in tracing the logic of the program You can single step any debuggable 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 ex amined an external device does not stop whatever it is doing just because the exe cution of the application has been restrained Also single stepping can be very tedious if stepping through many instructions 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 Dynamic C Dist 10 40 File Edit Compile Run Inspect Options Window O a amp compile F5 91001 b 4E Compile to Target lool 46 Compile to bin File gt Reload Rabbitsys binary bz Reset Target Compile BIOS Ctrl V To single step through a program instead of running at full execution speed com pile the program without running it To compile the program without running it use the Compile menu option the key board shortcut F5 or the toolbar menu button pictured to the left of the Compile menu option 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
155. Type checking of prototypes is performed Uncheck Prototype in the Project Options Compiler dialog box 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 Assume 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 Command Line Interface rabbit com 307 17 4 2 Switches Requiring a Parameter The following switches require one or more parameters bf BIOSFilePathname Description Factory Default GUI Equivalent Example Compile using a BIOS file found in BIOSFilePathname Bios RabbitBios c 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 un
156. U of the stack is passed to OSTaskCreate Ina Rabbit based system the Dynamic C development environment provides a superior stack allocation mechanism that pC OS I incorporates Rather than declaring stacks as static arrays the number of stacks of particular sizes are declared and when a task is created using either OSTaskCreate or OSTaskCreateExt only the size of the stack is passed not the memory address This mechanism allows a large number of stacks to be defined without using up root RAM Multitasking with Dynamic C rabbit com 54 There are five macros located in ucos2 1ib that define the number of stacks needed of five different sizes To have three 256 byte stacks one 512 byte stack two 1024 byte stacks one 2048 byte stack and no 4096 byte stacks the following macro definitions would be used define STACK _CNT_256 3 number of 256 byte stacks define STACK _CNT_512 1 number of 512 byte stacks define STACK _CNT_1K 2 number of 1K stacks define STACK _CNT_2K 1 number of 2K stacks define STACK _CNT_4Kk 0 number of 4K stacks These macros can be placed into each uC OS II application so that the number of each size stack can be customized based on the needs of the application Suppose that an application needs 5 tasks and each task has a consecutively larger stack The macros and calls to OSTaskCreate would look as follows define STACK _CNT_256 3 number of 256 byte stacks define STACK _CNT_512 1 n
157. UNCTION_B princi VL am funactiom 8 ia y endif Let s say the above file is named mylibrary 1ib If an application has the statement use mylibrary 1lib 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 this library and then makes a call to func_a will that function s print state ment 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 9 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 a LIB DIR ora user defined replacement for it 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 Language rabbit com 31 4 10 Function Description Headers Each user callable function in a Dynamic C library has a descriptive header preceding the function to describe the function Function heade
158. Use Syntax Highlighting Copy Copies selected text in the Disassembled Code window to the clipboard Save to File Opens the Save As dialog to save text selected in the Disassembled Code window to a file If you do not specify an extension dasm will be appended to the file name Move to Address 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 Disassem bled Code window Select ALL Selects all text in the Disassembled Code window All but the last menu option of the remaining items in the popup menu toggle what is displayed in the Disassembled Code window The last menu option Use Syntax Highlighting displays the colors that were set for the editor window in the Disassembled Code window 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 Opcode 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 Graphical User Interface rabbit com 294 Register F11 Select this option to activate or deactivate the Register window This window displays the processor register set including the status register Let
159. User Interface rabbit com 247 16 4 Compile Menu Click the menu title or press lt Alt C gt to select the Compile menu P Default Dynamic C Dist 10 40 File Edit Compile Run Inspect Options Window Help O ce amp compile F5 bi BS gt u Big Store Program in Flash gt 2 Store Program in RAM oigo 46 Compile to bin File Reset Target Compile BIOS Ctril 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 information and creates macros to automat ically 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 window Compile to Target Expands to one of two choices They override any BIOS Memory Setting choice made in the Compiler tab of the Project Options dialog e Store Program in Flash e Store Program in RAM The compiler will show board type and other board specific information while doing a compile to tar get The information shown will be identical to what the compiler shows when compi
160. _fat lib 2 12 nflash_fat lib sflash_fat lib 2 13 nflash_fat lib SD_fat lib Defining the macro_DRIVER_CUSTOM notifies fat_config 1ib that a custom driver or hardware configuration is being used For more information on how this works see Section 12 5 Next some static variables are declared a file structure to be used as a handle to the file that will be created and a buffer that will be used for reading and writing the file Now we are in main First there are some variable declarations the integer rc is for the code returned by the FAT API functions This code should always be checked and must be checked if the non blocking mode of the FAT is used The descriptions for each function list possible return codes The variable prealloc stores the number of bytes to reserve on the device for use by a specific file These clusters are attached to the file and are not available for use by any other files This has some advan tages and disadvantages The obvious disadvantage is that it uses up space on the device Some advantages are that having space reserved means that a log file for instance could have a portion of the drive set aside for its use only Another advantage is that if you are transferring a known amount of information to a file pre allocation not only sets aside the space so you know you will not get half way through and run out but it also makes the writing process a little faster as the allocation of clusters has
161. 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_buf fer It needs 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 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 Multitasking with Dynamic C rabbit com 50 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 wait for It can also suspend execution with an implicit yield determined by the time_slice parameter that was passed to it A ro
162. 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 Keywords rabbit com 210 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 xi 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 unsigned unsigned unsigned Ly jp kee 16 bit unsigned int x 16 bit unsigned long w 32 bit 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 Keywords rabbit com 211 waitfor Us
163. a run time option pointer checking adds instructions to code when pointer checking is used Pointer checking is not currently supported for far pointers Dynamic C User s Manual rabbit com 19 4 3 Far Pointers and Far Data This section examines the syntax of the far keyword using examples from simple variables to complex aggregate types 4 3 1 The far Qualifier The far keyword allows a programmer to directly declare variables in xmem Previous to this develop ment usage of xmem was limited to library routines such as root2xmem and xmem2root using memory allocated using xalloc Now the compiler will directly generate code to access xmem allocated through standard variable declarations with the addition of the far keyword 4 3 2 Basic Declarations In almost all respects far behaves syntactically identically to the const qualifier The keyword far was added to use the same basic principles as const with a few exceptions The rea son for this is that far and const both indicate the storage type for variables In the case of const the storage is in the flash device Variables declared as far are stored in xmem in RAM and can therefore be modified A variable can also be declared as const far which places the constant variable in the xmem space on the flash device far type var Declares a variable var having far storage We also allow type far var which has the same meaning as the previous declaration In othe
164. ad 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 without Dynamic C attached the call to the function that handles RST 28H instructions in the vector table will be treated as a NOP by the processor when in debug mode The target controller will work but its perfor mance will not be as good as when the nodebug keyword is used If the nodebug option is used for the main function the program will begin to execute as soon as it fin ishes 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 follow ing 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 unnecessary Hints and Tips rabbit com 320 19 2 2 In line I O The built in I O functions WrPortI RdPortI BitWrPortI andBitRdPortI canbe 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 t
165. ader 0 eeeeeeeeeeeeseeeneees 28 29 30 makechain 0 cccccccccceseeesesseessseeees 24 221 binary operators ceeeeeseceseceeeeteceeeees 225 Memmap ssessssseesseresesrsrrrresrerrerees 221 322 BIOS nodebug oseere 203 217 320 i KEKI ae heii ddianlvnsad 123 nointerleave oo cece eee eeeceseeesesseeeeseeeeeeees 220 calling premain ssssseessseeseseeeeseesrseeeee 92 HIOUSEIX se siveuvvecessctsersevengevecoeseaessensttenieven 223 i j 301 308 n EE IA TA 26 28 222 command line compiler gt i compilation environments 316 PUISC1X deacedacedecacecsacccecsasseeseidsasnssesdecaceaietace 223 3 Compile option 2 0 ee eeeeeeeeeeteceneeeeeee 326 FEW AIMS nanena a N EE eee 223 l 3 configuration MACTOS sesseeeeeeeeeeeeeeeee 127 PPWALIE coccair nonnen ni erien isi 223 A xi macro definitions s s s 284 KIMPOT paissieirada eei iasi 224 digs Memory location cee ceeeeeseeeneeeeees 130 ZAP OL RPTE E E AEE E acestecture 224 MEMOTY Settings 2 eeeceeeecseeeeeeeeees 281 A user defined wo ceeeceeeceeeeeeee 280 319 variable defined in seses 197 abandon cerise caucsdactecsesneecaqgevtcuecseetecsateas 189 blocking oeeeessescssesessseessstessstesssesssseessseeenes 135 abori am eee 189 board information 248 285 2 about Dynamic C on eects 299 BPD aean n OE 163 ade add with carry sss 168 ie gadis 192 210 add on modules 0 0 0 eeeeeeeeeeeereee
166. ags parameter is described in the function description for fat_AutoMount For this sample program we are interested in the first usable FAT partition The for loop after the call to fat_AutoMount finds the partition if one is available The for loop allows us to check every possible partition by using num_fat_devices which is the number of configured devices and then multiplying the configured devices by the maximum number of allowable partitions on a device which is four The for loop also makes use of fat_part_mounted an array of pointers to partition structures that is populated by the fat_autoMount call FAT File System rabbit com 139 12 2 2 Using the File System The rest of fat_create c demonstrates how to use the file system once it is up and running File Name Samples FileSystem fat_create c prealloc 0 ce tat Open first parec VHA TATY PAT TE WAT CREATS my_file amp prealloc ise re lt 4 printf fat _Open Tailed with return code sadin rc exme Yy ro fat Write my file Hello world e n 15 iit Wae lt 0 4 princi MES Mricel tealecl wich eeturm code scent rejs exit N re fat_Close my_file iit ie lt 0 41 printf Mites Closea failed with return code Bel in ro re rat Open iiwiesie_jodicic VHEDLOT TEXTU EATE ETLE O Cary ee NU aie ice lt 0 4 princi Yrkar Opem ior read tailed recura code Scl m rejs exit I
167. ally chosen Graphical User Interface rabbit com 242 16 2 File Menu To select the File menu click on its name in Dynamic C s main menu or press lt Alt F gt New lt Ctrl N gt eats A tg Dynamic C Dist 10 40 Creates a blank untitled program in a new window File Edit Compile Run Inspect Options Y called the text window or the editor window If you right O New Cin fy P jah click anywhere in the text window a popup menu will G Open Ctri O appear It is available as a convenience for accessing Gl save Ctrl 5 some frequently used commands T Save As GB save all alt s B Close Ctr F4 NE may be entered or browse and select it Unless there is a FR Create problem Dynamic C will present the contents of the file GE Open Ctr P in a text window The program can then be edited or com FD save Ctr R piled Multiple files can be selected by holding down Open lt Ctrl O gt Presents a dialog box to specify the name of a file to open To select a file type in the file name pathnames Print Setup Print Preview amp Print a Save As lt Ctrl gt then clicking the left mouse on each filename you F close want to open or by dragging the selection rectangle over J Exit Alt F4 multiple filenames 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
168. alue of any highlighted C expression when the program is stopped The scope of variables in watch expressions affects the value that is displayed in the Watches window If the variable goes out of scope its true value will not be dis played 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 expression will change the value of a variable every time watches are evaluated 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 behav ior 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 Set a breakpoint at this line if nx lt xl nx gt xh within the function pong While the program is stopped highlight the section of the expression you want evaluated Use the watches flyover hint by hovering the cursor over the highlighted expression It will be evaluated and the result dis played 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 Keep in mind that when single stepping in assembly the value of the watch expres sion may not be valid for variables located on the stack all auto v
169. and push the second to last argument if any 5 Continue to push arguments if there are more 6 Compute and push the first argument if any Also load the first argument into the primary register HL forint unsigned int char and pointers or BCDE for Long unsigned long and float if it is of a primitive type 7 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 pro gram may pop data 2 bytes at time from the stack Otherwise it is more efficient to compute 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 j77ex de hl save HL if required lel lad 36 want to pop 36 bytes add hl sp compute new SP value lel apral put value back to SP j 77ex de hl restore HL if required 2 If the function returns a st ruct unload the returned structure 3 Restore registers previously saved Pop them off if they were stored on the stack 4 If the function return was not a struct obtain the returned value from HL or BCDE 13 6 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 equiva
170. and restored properly is made to bios_intexit 11 bios_intexit is responsible for switching to the stack of the task that is now ready to run and executing a long call to switch to the new task The remainder of 11 is executed when a previously preempted task is allowed to run again Listing 1 asm taskaware_isr push af push regs needed by isr 1 push hl clear interrupt source 2 ld hl bios_intnesting increase the nesting count 3 inc h1 ipres optional 4 do processing necessary for interrupt ta a OSRunning MCOS multitasking yet 5 or a JE z taisr_decnesting possibly signal task to become ready 6 call OSIntExit sets bios_swpend if higher prio ready 7 taisr_decnesting Multitasking with Dynamic C rabbit com 60 push ip 8 ipset 1 ld hl1 bios_intnesting nesting counter 1 dec hl 9 J nz taisr_noswitch ld a bios_swpend switch pending 10 or a JE z taisr_noswitch push de 11 push be ex af af push af exx push h push de push be push iy lcall bios_intexit pop iy pop be pop de pop hl exx pop af ex af af pop be pop de taisr_noswitch pop ip taisr_done pop hl 12 pop af ipres ret endasm Multitasking with Dynamic C rabbit com 5 10 3 Library Reentrancy When writing a uC OS II application it is important to know which Dynamic C library functions are non reentrant If a function is non reen
171. apitalized with an underscore separating words e g MY_MACRO e Function names start with a lowercase letter with an underscore or a capital letter separating words e g my_function ormyFunction e Use parenthesis Do not assume everyone has memorized the rules of precedence E g ye a b Ae c this is legal y a b lt lt c but this is more clear e Use consistent indenting This increases readability of the code Look in the Editor tab in the Envi ronment Options dialog to turn on a feature that makes this automatic e 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 e Use Dynamic C code templates to minimize syntax errors and some typos Look in the Code Tem plates 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 templates from which to choose e Syntax Highlighting Many syntactic elements are visually enhanced with color or other text attributes by default These elements are user configurable from the
172. aracters followed by an optional period and an extension of up to 3 characters The characters may be any combination of letters digits or characters with code point values greater than 127 The following special characters are also allowed _ 6 amp File names passed to the file system are always converted to upper case the original case value is lost The maximum size of a directory is limited by the available space It is recommended that no more than ten layers of directories be used with the Dynamic C FAT file system 12 5 5 uC OS II and FAT Compatibility Versions of the FAT file system prior to version 2 10 are compatible with uC OS II only if FAT API calls are confined to one uC OS II task To make the FAT API reentrant from multiple tasks you must do the following e Use FAT version 2 10 e define FAT_USE_UCOS_MUTExX before use ing FAT LIB e Call the function fat_InitUCOSMutex priority after calling OSInit and before calling FAT APIs or beginning multitasking the parameter priority MUST be a higher priority than all tasks using FAT APIs e Call only high level fat APIs with names that begin with fat_ See the function description for fat_InitUCOSMutex for more details and the sample program Samples FileSystem FAT_UCOS C for a demonstration of using FAT with uC OS II 12 5 6 SF1000 and FAT Compatibility There are two macros that need to be defined for the FAT to w
173. are Add Edit Hardware Shame ana breakpoint dialog rear Hardware Breakpoints Breakpoints breakpoint dialog change check box then option ec click Update button Single Stepping No configuration options Always enabled Run Menu Instruction Level Ne conlizuniionoptions Project Options Run Menu Watch Expressions Environment Options Debug Windows tab Project Options Inspect Menu Register windows Debug Windows tab Project Options Debugger tab Debugger tab Evaluate No confeuaton onicas This feature is enabled when Insect Menu Expression 8 p Watch Expressions is enabled p Map File No configuration options Always enabled uoa poneralcd for compiled programs Memory Dum Envaroumene pong Always enabled Inspect Menu y p Debug Windows tab y p Disassemble Code ina contrite det Always enabled Inspect Menu Debug Windows tab y p Assert Macro Programatically Programatically Programatically printfQ Programatically Programatically Programatically Stdio Stack and Environment Options Always enabled Windows Menu a Keyboard shortcuts and toolbar menu buttons are shown along with their corresponding menu commands in the dropdown menus Dynamic C User s Manual rabbit com 86 6 3 1 Run and Inspect Menus The Run and Inspect menus are covered in detail in Section 16 5 and Section 16 6 respectively These menus are where you can enable the use of several debugger
174. are using a serial or NAND flash device that has not been formatted or a removable device that was not formatted using Dynamic C you must run Samples FileSystem Fmt_Device c before you can run any other sample FAT program The program Fmt__Device c creates the default configuration of one partition that takes up the entire device If you are using an SD card run Fmt__Device c to remove the factory FAT32 partition and create a FAT 16 partition Be aware that although multiple partitions are possible on removable cards most PC s will not support cards formatted in this fashion If you are using a removable NAND flash XD cards running Fmt__Device c causes the device to no longer be usable without the Rabbit based board or the Rabbit USB Reader for XD cards Insert the NAND flash device into a USB based flash card reader and format it to regain this usability Note that this will only work if you have not defined the macro NFLASH_CANERASEBADBLOCKS Defining this macro in a running application destroys proprietary information on the first block of the device making it difficult to regain the usability of the NAND device when used without the Rabbit based board If you are using FAT version 2 01 or later you do not have to run Fmt__Device c if you initialize the FAT file system with a call to fat_AutoMount instead of fat_Init The function fat_AutoMount can optionally format the device if it is unformatted however fat_
175. are written to allow for execution 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 2 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 registers must be loaded appropriately before calling the _xexit function Dynamic C expects the following values to be loaded Table 9 3 Register Contents Loaded by Error Handler Befo
176. ariables This is because the debug kernel does not keep track of the pushes and pops that occur on the stack and since watches of stack variables only make sense in the context of the pushes and pops that have happened they will not always be accurate when assem bly code is being single stepped Dynamic C User s Manual rabbit com 77 6 2 7 Evaluate Expressions The evaluate expression functionality is a special case of a watch expression evaluation in that the evalua tion takes place once when the Evaluate button is clicked not every time the Watches window is updated Pros Cons Uses Example Like watches you can use the Evaluate Expression feature on any valid C expres sion Multiple Evaluate Expression dialogs can be opened simultaneously Can alter program data adversely if the change being made is not thought out prop erly This feature can be used to quickly and easily explore a variant of program flow 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 breakpoint on the looping statement and hit F9 that many times so instead you force the loop variable to equal 99 using the evaluate expression dialog To do this compile the program without running it Set a breakpoint at the start of the loop and then single step to get past the loop variable initialization Open the Inspect menu and choose Evaluate Expres sion Typ
177. ation macros but rather a short list of those found to be com monly used by Dynamic C programmers Most default conditions can be overridden by defining the macro in the Defines tab of the Project Options dialog All the configuration macros listed here were defined in Rabbit BIOS c prior to Dynamic C 9 30 Since then many of them have been moved to configuration libraries while RabbitBIOS c has become a wrapper file that permits a choice of which BIOS to compile See Section 19 1 for more information on the reorganization of the BIOS that occured with Dynamic C 9 30 CLOCK_DOUBLED Determines whether or not to use the clock doubler The default condition is to use the clock doubler defined in BTOSLIB sysconfig 1lib Override the default condition by defining CLOCK_DOUBLED to 0 in an application or in the project ROOT_SIZE_4K Defines the beginning logical address for the data segment Defaults are defined in the BIOS 0x3 if sepa rate I amp D space enabled 0x6 otherwise Users can override the defaults in the Defines tab of Project Options dialog WATCHCODESIZE Specifies the number of root RAM bytes for watch code Defaults are defined in the BIOS 0x200 bytes if watch expressions are enabled zero bytes otherwise The defaults cannot be overridden by an application USE_TIMERA_PRESCALE Uncomment this macro in BIOSLIB sysconfig c to run the peripheral clock at the same frequency
178. ator this performs the bitwise XOR of two integer 8 bit 16 bit or 32 bit values int i OxFFFO int j Ox0FFF z i J z gets OxXFOOF 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 Ox0FFO z i 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 Operators rabbit com 231 15 4 Relational Operators lt Less than This binary relational operator yields a Boolean value The result is 1 if the left operand is less than the right operand and 0 otherwise EC i lt J JA body executes if i lt j OK a lt b true whena lt b lt Less than or equal This binary relational operator yields a boolean value The result is 1 if the left oper and is less than or equal to the right operand and 0 otherwise if i lt j body executes if i lt j OK a lt b true when a lt b 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 ke i gt JJA body executes ifi gt j OK a gt b true when a gt b gt Greater than or equal This binary relational operator yields a Boolean value The result is 1 if
179. ayed without descending into functions Source Step Into lt Alt F7 gt Executes one C statement with descent into functions when the assembly window is open If nodebug is in effect execution continues until code compiled without the nodebug keyword is encountered Source Step Over lt Alt F8 gt Executes one C statement without descending into functions when the assembly window is open Toggle Breakpoint lt F2 gt Toggles a 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 and hardware breakpoints do 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 Breakpoints are set in library code the same way they are set in application code Graphical User Interface rabbit com 250 Toggle Hard Breakpoint lt Alt F2 gt Toggles a hard breakpoint at the current cursor location A hard breakpoint differs from a soft break point in that interrupts are disabled when the hard breakpoint is reached Note that a hard breakpoint is not the same as a hardware breakpoint 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
180. b Directory File Memory BIOS setting Flash Memory BIOS setting Flash Select Code and BIOS in Flash in the Project Options Compiler dialog box The BIOS and code are compiled to flash and then the BIOS copies the flash image to RAM to run the code Memory BIOS setting Flash Select Code and BIOS in Flash Run in RAM in the Project Options Compiler dialog box Memory BIOS setting RAM Memory BIOS setting Flash Select Code and BIOS in RAM in the Project Options Compiler dialog box Command Line Interface rabbit com 303 F rb rb rd rd Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent 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 C
181. b dir file or by cut and pasting from name_me 1ib directly into the application file V 1 5 Rabbit Field Utility Module The Rabbit Field Utility RFU will load a binary file created with Dynamic C to a Rabbit based board The RFU can be used to load a binary file 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 x be found in the subdirectory named Utilities 8 Rabbit Fold tii ty where Dynamic C was installed Complete instruc RFU tions are available by clicking on the Help button Version 3 23 within the utility The Help document details setup Copyright 2007 information the file menu options and BIOS Digi International requirements All rights reserved The RFU executable that comes with the Dynamic C distribution is branded as a product as seen in the About screenshot shown here You can brand the RFU or customize its functionality to suit your needs Please contact technical support for the source file needed for customization www rabbit com support questionSubmit shtml The RFU enables those without Dynamic C to update their Rabbit based board with a few files installed on the computer and the appropriate connection to the target board Security Software amp Utility Programs rabbit com 334 The necessary files are included with
182. b stops display as the number of spaces specified here The various Find commands available on the Edit menu can be used directly in the Stdio win dow Starting with Dynamic C 10 21 the Select All item available on the Run menu can be used to select all text in the Stdio window The keyboard shortcut for Select All is Ctrl A i The macro STDIO_DEBUG_SERIAL may be defined to redirect Stdio output to a designated serial port this can be A B C or D For more information please see the sample program Samples STDIO_SERIAL C Graphical User Interface rabbit com 267 Assembly Window The Assembly window displays the disassembled code from the program just compiled All but the opcode information may be toggled off and on using the checkboxes shown below For more infor mation about this window see Section 13 3 5 Specific Preferences m Fonts and Colors Debug Windows Foreground Color Black v E Background Color Stack Registers Memory Dump O white gt Watch Hardware Breakpoints Font Use fixed pitch Stack Trace Courier New Meccanes d ene _ Apply settings to all debug windows Options JV Show Addresses M Use Syntax Highlighting V Show OpCodes V Show Source V Show Clock Cycles V Show File Name in Source Line V Sum Clock Cycles Show Addresses Check this to show the logical address of the instruction in the fa
183. be the first character on the line The BeginHeader comment must end with an asterisk 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 statements 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 pre ceded with extern 4 9 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 macros 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 permissible to put function bodies in header sections but it is not
184. be written in assembly language C statements may also be embedded in assembly code C language variables may be accessed by the assembly code 13 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 WOilel Sigineackl Cigie eli Elaaie ClaZz asm Ia RI opre Eren get source pointer ex ade mi save in register DE id hl sp SP ch1 get destination pointer id DS number of bytes xor a pe Clear carry LEO OO ld a de ch2 source byte acc a mil add chil byte Iel Moma FESS Ose resule cto Gnl acddresg imne mll increment chl pointer inc de increment ch2 pointer djnz loop do 8 bytes chl now points to 64 bit result 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 exception 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 Dynamic C User s Manual rabbit com 168 13 1 2 E
185. bute set That is mode is set to FAT_INC_DEF FATATTR_HIDDEN FAT_FIL_HIDDEN 2 If you want the next hidden directory Start with the FAT_INC_DEF macro default flag To narrow the search to directories only we want entries with their directory attribute set therefore OR the macros FATATTR_DIRECTORY and FAT_FIL_DIR Then OR the macros FATATTR_HIDDEN and FAT_FIL_HIDDEN to search only for directories with their hidden attribute set Set mode to FAT_INC_DEF FATATTR_DIRECTORY FAT_FIL_DIR FATATTR_HIDDEN FAT_FIL_ HIDDEN FAT File System rabbit com 157 3 If you want the next hidden file no directories Start with the predefined flag FAT_INC_DEF This flag allows directories which we do not want so we do an AND NOT of the FATATTR_DIRECTORY macro Next we want to narrow the search to only entries that have their hidden attribute set The default flag does not allow hidden flags so we need to OR the macros FATTR_HIDDEN and FAT_FIL_ HIDDEN That is set mode to FAT_INC_DEF amp FATATTR_DIRECTORY FATATTR_HIDDEN FAT_FIL_HIDDEN 4 If you want the next non hidden file no directories First select the FAT_INC_DEF filter default flag This flag allows directories which we do not want
186. 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 Dynamic C User s Manual rabbit com 300 17 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 dcecl_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 myOutput s txt is appended if it exists or is created if it does not 17 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 17 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 bin file using attached target in Compiler tab of Project Options dialog bf Description Undo user defined BIOS file specification Factory Default None GU
187. c C Table 9 1 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 wC OS II 254 255 not used Run Time Errors rabbit com 124 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 by 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
188. call to fat_FormatDevice Since we want more than one partition on the flash device fat_FormatDevice must be called with a mode parameter of zero Before calling fat_FormatDevice partition specific information must be set in the mbr_part entries for each partition you are creating The following code shows possible information for partition 0 where MY_PARTITION_SI4ZE is equal to the size of the desired partition in bytes 512 is the flash sector size and dev points to the mbr_part structure memset dev gt part 0 sizeof mbr_part dev gt part 0 starthead OxFE dev gt part 0 endhead OxFE dev gt part 0 startsector 1 dev gt part 0 partsecsize MY_PARTITION_SIZE 512 1 dev gt part 0 parttype dev gt part 0 partsecsize lt SEC_2MB 2 1 6 The memset function is used to initialize the entry to zero The values for st arthead and endhead should be OxFE to indicate that the media uses LBA Logical Block Addressing instead of head and cylinder addressing The FAT library uses LBA internally The values for the startsector partsecsize and parttype fields determine where the partition starts how many sectors it contains and what partition type it is The number of sectors in the partition is calculated by dividing the number of raw bytes in the partition by the sector size of the flash The number of raw bytes in the partition includes not only bytes for file storage
189. calls a function named VdInit that performs the initialization services including start ing the periodic interrupt If the user were to disable the Virtual Driver by commenting out the call to VdInit inpremain 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 chain GLOBAL _INIT which runs all GLOBAL INIT sections 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 andDelayMs functions often used with costatements and cofunctions in wait for statements would not work because those functions depend on timer variables which are maintained by the periodic interrupt Dynamic C User s Manual rabbit com 92 7 3 Global Ti mer 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 o
190. can now be closed Call fat_UnmountDevice i rather than simply calling fat_Close to ensure that any data stored in cache will be written to the device With a write back cache writes are delayed until either e all cache buffers are full and a new FAT read request requires a dirty cache buffer to be written out before the read can take place or e cache buffers for a partition or a device are being flushed due to an unmount call or explicit flush call Calling fat_UnmountDevice will close all open files and unmount all mounted FAT partitions This is the safest way to shut down a device The parameter first_part gt dev is a handle to the device to be unmounted fat_UnmountDevice first_part gt dev NOTE A removable device must be unmounted in order to flush its data before removal Failure to unmount any partition on a device that has been written to could corrupt the file system i Call fat_UnmountPartition when using a FAT version prior to v2 06 FAT File System rabbit com 142 12 3 More Sample Programs This section studies blocking sample FAT_SHELL C and non blocking sample FAT_NB_Costate c More sample programs are in the Dynamic C folder Samples FileSystem FAT For example there is udppages c an application that shows how to combine HTTP FTP and zserver functionality to cre ate web content than can be updated via FTP As described in Section 12 2 you will need a target board or core module with
191. ccl_cmp myProgram c rf My Long Pathname MyTCparameters rti Command Line Interface rabbit com 311 rti BoardID CpulD CrystalSpeed RAMSize FlashSize Description Factory Default GUI Equivalent Example s Port Baud Stopbits Description Factory Default GUI Equivalent Example Compile to a bin file using parameters defined in a colon separated format 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 CpulD 4000r or 5000r where is the revision number of the CPU 4000r0 corresponds to ULIT JCT1T 5000r0 corresponds to XYZ1T ABCIT CBS1T The file TCData ini in the root installation directory for Dynamic C identifies all current CPU identifiers CrystalSpeed Base frequency decimal floating point in MHz RAMSize Decimal in KBytes FlashSize Primary flash decimal in KBytes None Select Options Project Options Targetless Board Selection and choose a board from the list then select Compile Compile to bin File Compile to Flash dccl_cmp myProgram c rti 0x0700 2000r3 11 0592 512 256 Use serial transmission with parameters defined in a colon separated format 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
192. ces in the Project Options Compiler dialog box Disable runtime checking of array indices Runtime checking of array indices is performed Uncheck Array Indices in the Project Options Compiler dialog box Enable runtime checking of pointers Runtime checking of pointers is performed Check Pointers in the Project Options Compiler dialog box 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 Command Line Interface rabbit com 305 td td tp t p tt Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factor
193. ching endif Keywords rabbit com 219 ifndef Syntax ifndef name This directive enables code compilation if name has not been defined with a define directive This directive must have a matching endif include Syntax include pathname or include lt pathname gt Inserts the file specified by pathname into the code This is a straight textual insertion as if the contents of the file were cut and pasted directly into the file at the location of the include directive The two versions allow for control over which include paths are searched The double quotes path name around the path cause the compiler to first search in the directory where the source file containing the include is located then move on to the include path list provided by the GUI or project file The angle brackets lt pathname gt version skips the initial path and searches just the include paths list interleave nointerleave Controls whether Dynamic C will intersperse library functions with the program s functions during compi lation nointerleave forces the user written functions to be compiled first The nointerleave direc tive when placed at the top of application code tells Dynamic C to compile all of the application 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 tha
194. configuration constants used in uC OS II e How to override the default configuration supplied in UCOS2 LIB e The necessary steps to get an application running It is assumed that the reader has a familiarity with uC OS II or has a uC OS II reference MicroC OS I The Real Time Kernel by Jean J Labrosse is highly recommended Multitasking with Dynamic C rabbit com 62 5 10 4 1 Default Configuration uC OS II usually relies on the include file os_cfg h to get values for the configuration constants In the Dynamic C implementation of uC OS II these constants along with their default values are in os_cfg 1lib A default stack configuration is also supplied in os_cfg 1ib uwC OS II for the Rabbit uses a more intelligent stack allocation scheme than other uC OS II implementations to take better advan tage of unused memory The default configuration allows up to 10 normally created application tasks running at 64 ticks per sec ond Each task has a 512 byte stack There are 2 queues specified and 10 events An event is a queue mailbox or semaphore You can define any combination of these three for a total of 10 If you want more than 2 queues however you must change the default value of OS_MAX_QS Some of the default configuration constants are OS_MAX EVENTS OS_MAX TASKS OS_MAX_ OS OS_MAX MEM PART OS_TASK_ CREATE_EN OS_TASK_CREATE_EXT_EN OS_TASK_DEL_EN OS_TASK_STAT_EN OS_Q EN OS_MEM_EN OS_MBOX_EN OS_
195. corresponding printf statements Cons 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 memory xmem using the keyword xdata and then call printf with the conversion character ls An overuse of printf statements can also affect execution time Uses Use to check a program s flow without stopping its execution Dynamic C User s Manual rabbit com 71 Example 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 ap plication printf Entering my_function n To do the same thing but without using root memory xdata entering Entering my_function printf Sls n entering 6 2 2 ANSI Escape Sequences Dynamic C s STDIO window supports the following small subset of the so called ANSI Escape Sequences as described originally in the ANSI X3 64 standard withdrawn ISO IEC 6429 and ECMA 48 fourth edition ESC nA Cursor up n lines ESC nB Cursor down n lines ESC n C Cursor forward n columns ESC nD Cursor backward n columns ESC y XH Move cursor to row y column x Values start at 1 ESC 2 J Clear the entire screen amp move to home position n 2 ESC K Clea
196. cture then members of the nested aggregate type are accessed as follows index_register aggregate_type_reference member_name member_of_member_name where member_of_member_name is a member of struct member_name which is itself a member of the aggregate_type_reference To access additional levels of nested structures add member_name as nec essary Using Assembly Language rabbit com 180 The following Rabbit 4000 example illustrates assembly code access of both near data and far data in both a base structure and its nested structure using a mix of struct typedef struct pointer and struct instance references typedef struct int x int y TNest typedef struct TNest nest long time EStruct void func TStruct s TStruct far t asm nodebug a COCs ld ld ld ld F ea endasm use iy hl pw bcde IY to access near root data spt SP s iy TStruct nestty e g use PW to access far data spt SP t 1 pw t time void main void auto TStruct s_local static far TStruct t_local _n_memset amp s_local 0 sizeof s_local s_local nest y 0x1234 _f memset amp t_local 0 sizeof t_local t_local time 0x12345678 func amp s_local amp t_local asm nodebug 7 Esga ld ld use iy iy hl IY SP4 sp iy4 to access near root data ts local s_local nestty e g
197. d You may declare a multi byte variable as both shared and protected register The register keyword is not currently implemented in Dynamic C but is reserved for possible future implementation It is currently synonymous with the keyword auto Keywords rabbit com 205 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 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 asm root endasm scofunc Indicates the beginning of a single user cofunction See cofunc on page 193 206 Keywords rabbit com segchain Identifies a function chain segment within a function int func int arg int vec 10 segchain _GLOBAL_INIT for i 0 i lt 10 i vec i 0 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 effect in this example is to reinitialize vec shared Indicates that chang
198. d in Figure 3 The boot region of the MBR contains DOS boot loader code which is written when the device is formatted but is not otherwise used by the Dynamic C FAT file sys tem The partition table follows the boot region It contains four 16 byte entries which allows up to four partitions on the device Partition table entries contain some critical information the partition type Dynamic C FAT recognizes partition types FAT12 and FAT16 and the partition s starting and ending sec tor numbers There is also a field denoting the total number of sectors in the partition If this number is zero the corresponding partition is empty and available FAT File System rabbit com 161 Figure 3 High Level View of an MBR Master Boot Record MBR Entry__ 0x000 0x1BE 0x1CE 0x1DE Partition Table Ox1EE Ox1FE NOTE Some devices are formatted without an MBR and therefore have no parti tion table This configuration is not currently supported in the Dynamic C FAT file system 12 5 3 FAT Partitions The first sector of a valid FAT file system partition contains the BIOS parameter block BPB this is fol lowed by the file allocation table FAT and then the root directory The figure below shows a device with two FAT partitions Figure 4 Two FAT Partitions on a Device Partition 0 Partition 1 1 1 Data Area Data Area Sector 0 First Sector Start of First Sector Start of of Device of Partition Cluster 2 of Partition 2
199. ddress to send ping IPARAMETERZ2 user defined sequence number RETURN VALUE 0 successful il 1 failed when sending packet 1 failed because could not resolve host hardware address SEE ALSO _chk_ping _sent_ping _send ping_iface View Source Browse Print Help Close If you click the View Source 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 Graphical User Interface rabbit com 298 Instruction Set Reference lt Alt F1 gt Invokes an on line help system and displays the alphabetical 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 keyboard 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 Technical Support Center web pa
200. de already used in the application program will be compiled Debug Instructions and BIOS Inclusion Include RST 28 instructions There are three radio buttons for this option If Always is selected the debug and nodebug keywords and compiler directives work as normal Debug code consists mainly of RST 28h instructions inserted after every C state ment This selection 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 Never disables debugging is selected the compiler marks all code as nodebug and debugging is not possible The default selection is Auto yes when compiling to target no when compiling to bin file The only reason to include RST 28 instructions if debugging is finished and the program is ready to be deployed is to allow some current or planned diagnostic capability of the Rabbit Field Utility RFU to work in a deployed system This option affects both code compiled to bin files and code compiled to the target To run the program after compiling to the target with RST 28 instruction included disconnect the target from the program ming port and reset the target CPU 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 optio
201. de from edit mode without having to recompile the program TT x Source code has been modified continue with switch to debug mode e If the source 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 Close Connection Disconnects the programming serial port between PC and target so that the target serial port and the PC serial port are both accessible to other applications Graphical User Interface rabbit com 252 16 6 Inspect Menu Click the menu title or press lt Alt I gt to open the Inspect menu Inspect Options Window Help Q Add Watch Ctrl W Q7 Delete Watch AX Delete All Watches Qi Update Watch Window Ctrl U Q Evaluate Expression Ctrl F7 tf Disassemble at Cursor Ctrl F10 win Disassemble at Address Alt F10 i Dump At Address Ctrl D Go to execution point Ctrlt E The Inspect menu provides commands to manipulate watch expressions view disassembled code and pro duce hexadecimal memory dumps The Inspect menu commands and their functions are described here Add Watch lt Ctrl W gt This command displays the Add Watch Expression dialog Enter watch expressions with this dialog box A watch expression may be any valid C expression including assignments function calls and prepro cessor macros Do not include a semicolon at the end of the expression If the watch expre
202. der User Defined BIOS File and then fill in the pathname for the new BIOS file dccl_cmp myProgram c bf MyPath MyBIOS 1lib clf ColdLoaderFilePathname Description Factory Default GUI Equivalent Example d MacroDefinition Description Factory Default GUI Equivalent Compile using cold loader file found in ColdLoaderFilePathname Bios ColdLoad bin None dccl_cmp myProgram c clf MyPath MyColdloader bin Define macros and optionally 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 decl_cmp myProgram c d DEF1 20 DEF2 define DEF1 20 define DEF2 Macro definitions enclosed in quotation marks will be interpreted as a single command line parameter dcecl_cmp myProgram c d DEF1l 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 DEF1 statement ESCQUOTE define DEF1 statement
203. directives functions and variables eee BeginHeader ticks extern unsigned long ticks fos jaauclsieaclese unsigned long ticks BeginHeader Get_Ticks unsigned long Get_Ticks EndHeader unsigned long Get_Ticks furs Beciincaceic Ime Ticks VOLE Mine _ TiLeks dime a j e EndHeader asm Tine _TWaiLeless3 8 or a ipset 1 ipres ret endasm There are three modules defined in this code The first one is responsible for the variable t i cks the sec ond and third modules define functions Get_Ticks and Inc_Ticks that access the variable 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 Language rabbit com 30 If the application program calls Inc_Ticks or Get_Ticks or both the module bodies corre sponding 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 ine rune al y ifdef SECONDHEADER define XYZ endif EndHeader ime Fune al ifdef SECONDHEADER primet VL am UmETLon A VAY p endif BeginHeader func_b ime Pune e define SECONDHEADER EndHeader ifdef XYZ tdefine FUNCTION _B endif Ime itwiae_lo 4 ifdef F
204. does not have a local debug or nodebug keyword the debug or nodebug directive would apply 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 parameters 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 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 Keywords rabbit com 217 fatal Syntax fatal Instructs the compiler to act as if a fatal error occurred 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 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 code If a local stat
205. e 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 win dow 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 this option to activate the Information window which displays how the memory is partitioned and how well the compilation went I x i Base Top Size Root code 0000 4CE5 4CE6 Total code size 29519 bytes XMEM code 06000 08668 02668 Totaldata size 2341 bytes Watch code ccoo CDFE MFF 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 Graphical User Interface rabbit com 295 Table 16 2 Information Window Name of Field Description of Field The begin base end top and size of the root code area expressed in logical Rou sge address format 16 bit XMEM code The begin end and size of the XMEM code area exp
206. e system just has to call the function fat__Init replaced in FAT version 2 01 or fat_AutoMount If you are calling fat_AutoMount refer to Section 12 2 1 for an example of its use Note that if you call fat_Aut oMount using the configuration flag FDDF_DEV_FORMAT you may not need to run Fmt__Device c 12 4 1 2 Creating Multiple Partitions To create multiple partitions on the flash device use the sample program FAT_Write_MBR c which will allow you to easily create as many as four partitions This program does require that the device be erased before being run This can be done with the appropriate sample program sdflash_inspect c sflash_inspect cornflash_inspect c You only need to clear the first three pages on SD cards or serial flash or the first page on NAND flash or XD cards Once this is done run FAT_Write_MBR and it will display the total size of the device in MegaBytes and allow you to specify the size of each partition until all the space is used If you specify an amount larger than the space remaining then all remaining space will be used for that partition Once all space is specified it will ask approval to write the new partition structure This utility does not format the partitions it merely creates their definitions Run Fmt__device c afterwards and use the 0 or 1 option to format the full device and all partitions will be formatted Be forewarned that on removable media using multiple partitions will typ
207. e 330 breakpoints addres ionini rene Ea EEE RARE 79 assembly WindOW ceessesssseessesseeseees 179 Dynamic C User s Manual rabbit com 341 enable cinner n e 282 hard airite ne e aE 251 hard Ware si srciereievccdeesientesieecereety 74 251 interrupt Status oo eee 250 251 library code eee eeeeeeeeeeeeeeeeeeenes 250 library fil s ccccccasssesssssesessestenaseuresesy 195 norst keyword eesssessssreeesrrererrereeeeee 204 persistent cosccsseescstsnseenestissssseesnesnseenesbey 250 RST 28 seriernes 320 single stepping seeesseereseereresrrerrerereen 250 SOM AE EENE EEE EE EES 250 Watches window scesceeeeeeeseeeeeeees 254 C C language ou eee 9 10 24 171 175 calling assembly 0 0 eee eee 182 embedded in assembly nsss 169 Cached Write eee esseceeeeceeeesteeeeeeeees 142 call SEQUENCE oo cescsiessesssetvcosepesesesssnsosbeces gt 295 cascaded WIndows esececceeseeeeeeeeerees 290 CAS ENA A A E E T 192 196 CHAT seriene eae n e 193 213 clipboatd sinirsirinerssi spisie ereere 245 closing a file soerinrcirintiernnris 243 CoData Structure ssssessesseeesserereereereresrer 39 POINLEE 10 ronori 41 COMAE eae oia ae a Ea EE ES Nei 193 COFUNCTIONS 0 eeeeeeeseceeeeceeeeeneceteeeees 42 48 abandon sosiete oinen iE 47 calling restrictions eects 43 OVELYUIME 0 eicssasssoresossnssseareseessasnsesens 47 firstime nessi nri 200 i dexed serieren ei E 45 key wot sisiesssnriniserietsrisi 193 s
208. e ANST Escape VENAR ates Ta 10 Memory Management ssesseeeeereersseereeree 129 E P satiate n 10 1 Memory Map 129 625 Single Stepping 76 10 1 1 Memory Mapping Control 130 6 2 6 Watch Expressions s es 77 Be OSE ELTON URCHOND ter zee y 6 2 7 Evaluate Expressions 78 eee Porrogani m Men ee td 6 0 8 Memory DUMP aiccein 78 10 4 Dynamic Memory Allocation 131 O 2 9 MAP Fille cicscsssssessctexeceedptenssies case 79 11 Direct Memory ACCESS eeeeeeeeeeeeeeeees 132 6 2 10 Symbolic Stack Trace 82 11 1 DMA Registers and Global Resources 132 6 2 11 Assert Macro eee eeeeeeeeeeee 83 11 2 API Functions 00 eee eee sesasi 132 6 2 12 Miscellaneous Debugging Tools 83 11 3 DMA Interrupts 2 000 eeeeeee 133 6 3 Where to Look for Debugger Features 86 11 4 DMA Transfer Information 0 133 6 3 1 Run and Inspect Menus 87 11 4 1 DMA Transfer Priority 133 6 3 2 Options Menu eee 87 11 4 2 DMA Transfer Mode 134 6 3 3 Window Menu eee 87 11 4 3 DMA Transfer Functions 134 6 4 Debug Strategies eee eee eeeeeees 88 11 4 4 DMA Transfer Function Flags 134 6 4 1 Good Programming Practices 88 11 5 DMA with Ethernet ee 134 6 4 2 Finding the Bug ee 90 12 FAT File System 135 65 Reference to Other Debugging Information 191 Overview of FAT Documentation 136 aa 12 2 Running Your First FAT Sample Program 7 The Virtual Drive
209. e arranged in an orderly way The Compiler Messages option is a toggle for displaying that window This is only available if an error or warning occurred during compilation Project Explorer CC E gh f Mnimzo EVIA Starting with Dynamic C 10 60 you can organize your projects using multiple c files as is common with most C development tools Dynamic C 10 60 introduces an interface to support this new functionality called the Project Explorer To access the Project Explorer window click on Window gt Project Explorer or use the keyboard shortcut lt Shift F12 gt The Project Explorer window serves as your primary project interface for managing and compiling proj ects with multiple c files The project is defined as a list of c files that will be linked into the final execut able BIN file and sent to the target A main file the top node in the file tree is specified as the primary application source code The main file is treated as the first compiled file and will usually include the main function Note that this is an addition to the project functionality that exists in previous versions NOTE Dynamic C LIB files should not be added to the project explorer file list Creating a new project or creating a project out of an old Dynamic C application is easy e Create your primary application c source file if it does not already exist and save it e Open the Project Explorer window e Click Add Files
210. e as follows S port baudrate Description Default RFU GUI Equivalent Example Description Default RFU GUI Equivalent Example Select the comm port and baud rate for the serial connection COMI and 115 200 bps From the Setup Communications dialog box choose values from the Baud Rate and Comm Port drop down menus clRFU myProgram bin s 2 115200 Causes the RFU version number and additional status information to be displayed Only error messages are displayed Status information is displayed by default and there is no option to turn it off c1RFU myProgram bin v Security Software amp Utility Programs rabbit com 335 cl ColdLoaderPathName Description Default RFU GUI Equivalent Example pb PilotBiosPathName Description Default RFU GUI Equivalent Example fi Flash ini PathName Description Default RFU GUI Equivalent Example 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 Select a new secondary loader bios pilot bin From the Choose File Locations dialog box visible by selecting the menu option Setup File Locations type in a pathname or click
211. e in j 99 and click on the Evaluate button Now you are ready to start examining the program s behavior 6 2 8 Memory Dump The Dump window is a versatile tool 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 Debugging Tools for more information on these topics Another useful feature of the Dump window is that values that have changed are shown highlighted in reverse video or in customizable colors 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 contain symbolic information which makes some in formation harder to decipher There is the potential for increased debugging over head 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 proceed String manipulation can easily cause memory corruption if you are not careful Consider the following code char my_array 10 for i 0 i lt 10 i my_array i Oxff If you do not have run time checking of array indices enabled this code will cor rupt whatever is immediately following my_array in memory Dyna
212. e library somewhere in the code Modules organize the library contents in such a way as to allow for smaller code size in the compiled 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 straight forward Read this entire section carefully to understand module scope 4 9 1 The Parts of a Module A module has three parts the key the header and the body The structure of a module is fue Beginkieacder funnel wai2 sooo Bf prototype for funcl extern var2 EndHeader cerinicion OF fume il declaration for var2 possibly other functions and data A module begins with its BeginHeader comment and continues until either the next BeginHeader comment or the end of the file is encountered Language rabbit com 28 4 9 1 1 Module Key The module key is usually contained within the first line of the module header It is a list of function and data names separated by commas The list of names may continue on subsequent lines BeginHeader name namey 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 by a forward slash 3 asterisks and one space The forward slash must
213. e number 20000 in the for statement to 10000 Then use the lt F9 gt key to recompile and run the pro gram 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 program 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 Watch Expression popup box Add Watch Expression Ed Watch Expression Ik 7 OK Cancel Help Type k in the text entry box then click OK or Add to add the expression k to the top of the list of watch expressions Now press lt Ctrl U gt the keyboard shortcut for updating the watch 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 Quick Tutorial rabbit com 15 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
214. e of different type the result of this operation is returned at the higher precision Operators rabbit com 237 15 10 Other Operators type 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 iteml typeB item2 item2 typeB iteml forces item to be treated as a typeB sizeof 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 record record array 100 int a Dy CG ad 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
215. e position pointer is set to 0 and no error code is returned If pos is greater than 0 the seek is towards EOF If this goes past EOF the position pointer is set to EOF and error code EEOF is returned e SEEK_END seek to pos bytes from the end of the file That is for a file that is x bytes long the state ment fat_Seek amp my_file 1 SEEK_END will cause the position pointer to be set at x 1 no matter its value prior to the seek call If the value of pos would move the position pointer past the start of the file the position pointer is set to O the start of the file and no error code is returned If pos is greater than or equal to 0 the position pointer is set to EOF and error code EEOF is returned FAT File System rabbit com 153 e SEEK_RAW is similar to SEEK_SET but if pos goes beyond EOF using SEEK_RAW will set the file length and the position pointer to pos This adds whatever data exists on the allocated space onto the end of the file FAT File System rabbit com 154 12 4 2 4 Creating Files and Subdirectories While the fat_Open function is versatile enough to not only open a file but also create a file or a sub directory there are API functions specific to the tasks of creating files and subdirectories The fat_CreateDir function is used to create a subdirectory one level at a time iG ere _ CwScieeDiric iy_joeuce VIDIL
216. e term Primary Flash refers to the Flash device connected to CSO not the total amount of Flash available on the board The result may be saved to a RTI file for later use or the result may be saved to the list of board configurations User defined ID codes are in the form OxFFnn Board Selection The list of board configurations is viewable from the Board Selection tab The highlighted 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 labeled Update Board Selection on the Specify Parameters tab then you must fill in all fields of the dialog The Graphical User Interface rabbit com 286 baud rate calculated from the value labeled Base Frequency MHz only applies to debug ging The fastest 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 The correct choice for the CPU field is found on the chip itself The information is printed on the second line from the top on both the Rabbit 4000 and 5000 The table below lists the possi ble values for these chips Rabbit Microproc
217. e the next time the program 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 Multitasking with Dynamic C rabbit com 39 5 4 2 CoData Fields This section describes the fields of the CoData structure CSState 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 Done or has been initialized to run but set to yes yes 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 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 aname The CSState flag has no meaning for unnamed costatements or cofunctions Last Location The two fields Last locADDR and last LocCBR represent the 24 bit address of the location at w
218. e 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 pro gram 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 mis take This is a good place to mention that using hard coded values is more prone to error than defining and using constants Dynamic C User s Manual rabbit com 79 M cn Dynamic C ersions DC_1040 Samples DEm main i int i j int my_array 2000 Offset Rel cto Size Symbol File 4002 SP 2 main i DEMOL 4000 SP main j DEMOL 0 SP 4000 main my_acray DEMOL 3 SP 4 printt fmt STDIO 5 SP 2 qezic STDIO 7 SP 4 _ gez f printfbuf STDIO SP 2 aez printfznt STDIO 4 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 dis tance In other words if a function spans a gap created with a follows action the size reported for the function will be much greater than the actual n
219. eclared in your application for example fat_dirent dirent Search Conditions The last parameter mode determines which directory entry is being requested a choice that is built from a combination of the macros described below To understand the possible values for mode the first thing to know is that a directory entry can be in one of three states empty active or deleted This means you must choose one of the default flags described below or one or more of the following macros e FAT_INC_ACTIVE include active entries This is the default setting if other FAT_INC_ macros are not specified i e active files are included unless FAT_INC_DELETED FAT_INC_EMPTY or FAT_INC_LNAME is set e FAT _INC_DELETED include deleted entries e FAT_INC_EMPTY include empty entries e FAT_INC_LNAME include long name entries this is included for completeness but is not used since long file names are not supported The above macros narrow the search to only those directory entries in the requested state The search is then refined further by identifying particular attributes of the requested entry This is done by choosing one or more of the following macros e FATATTR_READ_ONLY include read only entries e FATATTR_HIDDEN include hidden entries e FATATTR_SYSTEM include system entries e FATATTR_VOLUME_ID include label entries e FATATTR_DIRECTORY include direc
220. ected configuration The name of the function and the name and path of the library are chosen by the user in the Save Configuration dialog If the library is saved where your lib dir file can find it then the newly created function and library can be found with Ctrl H when running Dynamic C The utility generated function and library are used in application code as follows use mylib lib main BoardInit The Rabbit I O LIB Utility allows you to configure the following Rabbit features e Parallel Ports includes configuring slave port and auxiliary I O bus use pin data direction and alter nate functions e Serial Ports includes configuring transfer mode hardware pin assignment for Tx and Rx baud rate and other serial port parameters e PWM includes configuring the interrupt priority period duty cycle spread function and prescaler for each PWM channel You can also select parallel port pins for the PWM output e Timers includes configuration of timers A B and C Includes configuring interrupt priority e External Interrupts includes configuring priority level and whether interrupts occur on the rising edge falling edge or both Dynamic C User s Manual rabbit com 330 e Input Capture includes configuring priority levels choosing between normal and counter operation determining trigger latch trigger condition pin and start stop conditions e External I O includes configuring wait states
221. ectory 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 x import to include file compression by an external utility filename is the input file and must be relative 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 t xt dcz The first 32 bits of the output file contains the length in bytes of the file followed by its binary contents The most significant 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 V 1 3 for further information regarding file compression and decompression Keywords rabbit com 224 RABBI TE 15 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 bina
222. ed in a costatement or cofunction this keyword identifies a point of suspension pending the outcome of a condition completion of an event or some other delay for costate waitfor input 1 HIGH waitfordone wfd The wait fordone keyword can be abbreviated as wfd It is part of Dynamic C s cooperative multitask ing constructs Used inside a costatement or a cofunction it executes cofunctions and firsttime func tions When all the cofunctions and firsttime functions in the wfd statement 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 wfd 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 wd with one cofunction wfd wd with several cofunctions clrser 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 wfd returns 1 2 n to indicate which cofunc
223. ed out braces in the matching giving a false indication that the main function has balanced curly braces when in fact it does not main rey af 16 1 2 Menus Dynamic C s main menu has eight command menus as well as the standard Windows system menus P Dynamic C Dist 10 40 File Edit Compile Run Inspect Options Window Help An available command can be executed from a menu by either clicking the menu and then clicking the command or by pressing the Alt key to activate the menu bar using the left and right arrow keys to select a menu and then using the up or down arrow keys to select a command before pressing the Enter key 16 1 3 Using Keyboard Shortcuts File Edit Compile Run Inspect Options Window Help For some of us it is easier to type keyboard shortcuts than to use a mouse A menu can be activated by pressing the Alt key while pressing the underlined letter of the menu name This is the de facto standard as it is used in numerous commercial software products Pressing the Alt key allows you to see which charac ter in the menu name is underlined as shown in this second screenshot of Dynamic C s main menu All the keyboard shortcuts on the main menu use the first letter of the menu name in the shortcut Some keyboard shortcuts have this obvious connection while others do not See the Editor Tab screenshot in Section 16 7 Graphical User Interface rabbit com 241 for some examples of not so obvious ke
224. efault RFU GUI Equivalent Example 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 cLRFU myProgram bin vp 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 to Serial Converter option cLRFU 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 Serial Converter option cLRFU myProgram bin usb Command Line Interface rabbit com 315 RABBI TE 18 PROJECT FILES In Dynamic C a project is an environment that consists of opened source files a BIOS file available libraries and the conditions under which the source files will be compiled The File Open directory last used will be stored in the project file Projects allow different compilation environments to be separately maintained 18 1 Project File Names A project maintains a compilation environment in a file with the extension dcp 18 1 1 Factory dcp The environment originally shipped from the factory is kept in a project file named fact
225. elp button in the upper righthand corner of the program window Context sensitive help is accessed by positioning the cursor over the desired subject and then pressing lt F1 gt Security Software amp Utility Programs rabbit com 331 V 1 2 1 Add Files to Encrypt There are two ways to select files to encrypt 1 Type the path and filename in the lower window 2 Click the Add Files to Encrypt button to bring up a file open dialog box and browse for the desired file The list of files to be encrypted may be edited if desired Notice that if anything is entered in the lower window a new button named Encrypt appears Two entries in the window change it to Encrypt AII Clicking this button causes the utility to encrypt the file s listed in the lower window V 1 2 2 File Extension Encrypted files will be saved with the same pathname but with the extension supplied Dynamic C will use encrypted and non encrypted files seamlessly so the choice of extension is for one s own file manage ment V 1 2 3 Optional Text Area The upper window is a text window of up to 4k bytes in length Any text entered will appear in all files in the list appearing in the lower window If two files are to be given unique headers they should be encrypted separately This area can be used for copyright information instructions disclaimers warnings or anything else rele vant to viewers of the file V 1 3 File Compression Utility Dynamic
226. em being the first path searched NOTE The include paths are unrelated to LIB DIR and use They are only used by include 16 7 3 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 To remove the control bar from the Dynamic C window uncheck View Menu Buttons 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 two vertical lines on the left side of the toolbar and dragging it off the con trol bar Options Window Help iN Environment Options a at a oY ASR GO if Project Options 4 lv view Menu Buttons iv File V Print lv Edit lv Compile iv Run lv Inspect Options lv Debug Windows Window Views Help Gonsolidated Default Toolbars Show All Buttons Consolidate visible buttons to one toolbar Customize Button Groups Each menu button group File Edit Compile Run Options Watch Debug Window Window View and Help has a checkbox for choosing whether to make its toolbar visible on the control bar To quickly return to showing only 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 Do
227. em tick rate is set to 32 ticks per second 1 Next since this application uses tasks with 1024 byte stacks it is necessary to define the configuration constants differently than the library default 2 Notice that one 512 byte stack is declared Every Dynamic C program starts with an initial stack and defining STACK_CNT_512 is crucial to ensure that the application has a stack to use during initialization and before multi tasking begins Finally ucos2 1ibis explicitly used 3 This ensures that the definitions in 1 and 2 are used rather than the library defaults The last step in initialization is to set the number of ticks per second via OSSetTicksPerSec 4 The rest is identical to example 1 and is explained in the previous section 1 Define necessary configuration constants for uC OS II define OS MAX EVENTS 2 define OS _MAX TASKS 20 define OS MAX OS 0 define OS_Q EN 0 define OS _MBOX_EN 0 define OS_TICKS_PER_SEC 32 2 Define necessary stack configuration constants define STACK _CNT_512 1 initial program stack define STACK_CNT_1K OS_MAX_TASKS task stacks 3 This ensures that the above definitions are used fuse ucos2 lib void RandomNumberTask void pdata Declare semaphore global so all tasks have access OS_EVENT RandomSem void main int i Initialize OS internals OSInit for i 0 i lt OS_MAX_TASKS i Create each of
228. empt Ve cfs ceeteesndbd sob etesdasdesnssel estes 50 N names IN assembly eee eeeeceeeeeseeeeeeeeeeeeeeee 174 Next error lt CTRL N gt oe ee 247 nodebug 168 203 250 254 277 320 non blocking oe eee eee eeeeeeeeeeeeeeeeee 135 HOTSI omeen ora e E R 204 TIOUSEIK periere AR EA 204 NULE aeto anao a E 204 O offsets in assembly n se 180 182 online helpen 32 299 OPELALOTS peisiissicisisisnaesteni iieiaei 225 arithmetic Operators ee eee 226 decrement eeseeeeseeeeeeeees 228 division sernir 227 increment ccccesseeeeeees 228 indirection w ceeeeeceseeeeeees 227 MINUS ceececeeceeseceestteeeseeeeees 226 modulus ecceeeetecesseeeeteeeees 228 multiplication weer 227 PUS CE aieiai 226 POINTETS oreesa cienia rtgni 227 Index rabbit com 346 post decrement eee 228 less than or equal lt 232 post increment 0 0 eee 228 SIZO OD perire E EE easkteeoese 238 pre decrement oo 228 UNAY icecrtciccsvocesntontnevsnedayssesubcoausevevedyans 225 pre increment n se 228 optimize size or speed oes 277 assignment Operators eee 229 options add assign neeesser 229 COMPILER sprene aia 276 AND assign amp nesses 230 MENU ser neeo eea e 257 ASSION ssassieesesscssseasesessicensor gt 229 oiak ia F N E E 216 divide assign seses 229 modulo assign eseeeee 229 P multip ly assign T vevereres
229. ending on the Flash type used It is also possible to have a target that only has RAM for use as a slave proces sor but this requires more than checking this option because hardware changes are neces sary that in turn require a special BIOS and coldloader Max Shown The scroll menus labeled Errors and Warnings limit the number of error and warning mes sages displayed after compilation List Files Checking this option generates an assembly list file for each compile A list file contains 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 win dow 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 293 for a screen shot of the Disassembled Code window 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 available for user code when separate I amp D space is enabled i For boards with serial boot flashes selecting Flash is the same as the command line compiler mfr option Graphical User Interface rabbit com 278 Default Compile Mode One
230. ends on the semaphore gets a random number posts to the semaphore displays its random number and finally delays itself for three seconds Looking at the code for this short application there are several things to note First since uC OS II and slice statements are mutually exclusive both rely on the periodic interrupt for a heartbeat use Multitasking with Dynamic C rabbit com 64 ucos2 lib must be included in every uC OS II application 1 In order for each of the tasks to have access to the random number generator semaphore it is declared as a global variable 2 In most cases all mailboxes queues and semaphores will be declared with global scope Next OSInit must be called before any other uC OS II function to ensure that the operating system is properly initialized 3 Before uC OS II can begin running at least one application task must be created In this application all tasks are created before the operating system begins running 4 It is perfectly acceptable for tasks to create other tasks Next the semaphore each task uses is created 5 Once all of the initialization is done OSStart is called to start uwC OS II running 6 In the code that each of the tasks run it is important to note the variable declarations Each task runs as an infinite loop and once this application is started uC OS II will run indefinitely us voi 1 Explicitly use uC OS II library e ucos2 1ib
231. ents to be 32 bit integers If nothing else is speci fied Long implies a signed integer long i j k unsigned long int w long funct long arg 32 bit signed 32 bit unsigned main Identifies the main function All programs start at the beginning of the main function main is actu ally 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 Keywords rabbit com 203 norst Indicates that a function does not use the RST instruction for breakpoints norst void func The norst keyword in combination with the debug keyword will give you run time checking without debug For example debug norst foo will perform runtime checking if enabled but will not have rst instructions nouseix Indicates a function does not use the IX register as a stack frame reference pointer This is the default case nouseix void func NULL The null pointer This is actually a macro not a keyword Same as void 0 Keywords rabbit com 204 protected An important feature of Dynamic C is the ability to declare variables as protected Such a variable is pro tected against loss in case of a power failure or other system reset because the compiler generates code that creates a backup copy o
232. equest DKCORE dkickToSend DECORE dkStepF lags DECORE dkptrasMbut DECORE dkASMbuf DECORE dkRegisters DECORE dkNextAddress DKCORE 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 5 digit physical addresses 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 appends 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 couple of dump windows by typ ing in the 5 digit physical address for one window and the XPC offset into another and seeing that the contents are the same Dynamic C User s Manual rabbit com 81 6 2 10 Symbolic Stack Trace Dynamic C has both a Stack window and a Stack Trace window The Stack window lets you view the top 32 bytes of the stack The Stack Trace window lets you see where you are and how you got there It keeps a running depth value telling you how many bytes have been pushed on the stack in the current program
233. erein o ie cee 246 SEC TIMER sssssssstsseneesbinedocreoeisesetees 93 327 SELCHAIN so scccwoecucesee ieee iene 24 207 segmented cosissesccessssesiseantssrseontacsendisonbesess 79 segmented address ssesseeeeeeereerereeeee 79 SEGS E erorar RE a 129 separate I amp D space 171 185 255 278 Shadow registers 0 0 eeeeeeeeeeeeeeeeeees 328 Shared esnean a saa 207 Shared variables cccscccccesssssceeeeees 9 205 SMOPE ereire enoo apnee oE NEEE i 207 single stepping assembly Window sseesseseesesereeseeeee 179 library files c scecsssesecessessesessesesoes 195 OPUONS ri a a e E 250 watches window cssceceesreeeneeeeeeees 254 SIZE EA Gee E T 208 277 SIZEON mese Te a E EES 208 slaye port sirisser 96 slice statements 0 eeeetceeeeesteeeneeeeeeees 50 soft breakpoints seeeeseeeseeeseereerrereeee 250 SOULCE FILES oo eee eeeeeeeteeeneeeeeeeeeeeeeeeceeeeens 26 SP stack pointer 177 183 184 188 223 special symbols IN ASSEMDLY eee eeeeceeeeeseeeeeeeeeeeeeeee 174 SPCOG weniie soviacdeoselcesesdsebiteesssedhsteetee 208 277 stack enable tracing eee eeeeeeeeeeeeeeees 283 enter LUMCTION oi sssecsersssceseveneesoreseaenss 320 frame siasio 177 183 184 188 frame reference point 00 0 eee 183 frame reference pointer 180 182 204 320 function returning struct oe 183 IR eein a 185 local variables ccccceeeeeeeeees 180 191 MOUSCIX A E E 204 poi
234. es to a multi byte variable such as a float are atomic Interrupts are disabled 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 en T If i is a shared variable expressions of the form i or i i 1 constitute two atomic references 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 Keywords rabbit com 207 size Declares a function to be optimized for size as opposed to speed size int func 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 J 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 variable to have a permanent fixed location in memory as opposed to auto where the variable exists on the system stack G
235. ess space Starting with Dynamic C 10 21 the compiler supports up to the 16 MB of physical memory up Introduction to Dynamic C rabbit com 10 to 16 MB can be used for data and up to 1 MB can be used for code Dynamic C has been verified to work with Rabbit based boards with up to 4 5 MB of memory Normally Dynamic C takes care of memory management but there are instances where the programmer will want to take control of it Dynamic C has keywords and directives to help put code and data in the proper place such as root xmem and memmap for code and far for data See Chapter 10 for further details on memory management The use statement allows you to create library files that include your function declarations and defini tions together Starting with Dynamic C 10 60 you can use the standard include mechanism instead 2 3 2 Dynamic C Differences The main differences in Dynamic C are summarized in the list below and discussed in detail in Chapter 4 Language and Chapter 14 Keywords When declaring pointers to functions arguments should not be used in the declaration Arguments may be used when calling functions indirectly via pointer but the compiler will not check the argument list in the call for correctness See Section 4 4 for more information Bit fields are not supported Separate compilation of different parts of the program is not supported Introduction to Dynamic C rabbit com 11 RABE ete 3
236. essor non RoHS RoHS Rabbit 4000 n a ULH T JCT T Rabbit 5000 n a JZ T Where is the revision number and the letters are associated information 16 7 2 6 Include Path Tab Dynamic C 10 60 introduced the standard C feature of include With the Include Path tab you can tell Dynamic C what paths to search for include files as seen in the following dialog x Include directories in search order C Development DCRABBIT DEV DistribCommon Include C Development DCRABBITDEVDistribCommon Include xbee Add Replace Delete omes eee To add a directory to the Include directories you can either type it directly into the text field at the bottom of the dialog or you can press the button which will bring up a dialog that Graphical User Interface rabbit com 287 allows you to select the directory through a file browser interface Pressing Add will then add your new directory to the list You can also edit directories that are already in the list by first selecting the directory and then using either the Replace or Delete buttons Replace will replace the currently selected Include directory with the text in the bottom text field Delete will remove the currently selected Include directory from the list The arrow buttons at the right allow the ordering of paths to be changed select a path in the list and move it up or down with the arrows to change the search order the top it
237. etects if a file that is currently open in Dynamic C has been modified by an external source i e a third party editor and if checked will bring up a dialog box asking if you want to reload the modified file so that Dynamic C is working with the most current version 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 Graphical User Interface rabbit com 273 16 7 2 Project Options Settings used by Dynamic C to communicate with a target and to compile and run programs are acces sible by using the Project Options dialog box The dialog box has tabs for various aspects of communi cating with the target the BIOS and the compiler 16 7 2 1 Communications Tab This is where you setup for serial communication The following options are available when the Use Serial Connection radio button is selected Project Options xi Communications Compiler Debugger Defines Targetless Include Path m Serial Options M Baud Rates Debug Baud Rate 115200 Max Download Baud Rate 460800 7 Disable Baud Negotiation Stop Bits 1 z Serial Port EENE JV Enable Processor verification Verify the processor Try disabling if you can t get the PC to find the target M Use USB to Serial Converter Cancel Help Debug Baud Rate This defaults to 115200 bps
238. etetees 324 relational Operators 0 232 RAM functions 0 ceeeeeseeeeeereteteees 188 greater than gt wees 232 reading max number of characters 142 greater than or equal gt 232 real time less than lt snssssnacornationannsnadionas 232 programming sssssessssssesseoneesesoreteseeereene 9 Index rabbit com 347 redoing Changes oo cece esses eeeeees 245 registers saving and restoring oe 184 SHADOW sssicessecesslaccsvchasetedoonestateaneessezessns 328 SNAPSHOTS seveevsessbevvissetsesvseesesesctsecewe 295 WINdOW re 290 295 relocatable code o eee eeseeeceeeseeeneeeeeeees 188 reset PROSLAIMN erin EEE EE 252 resizing Columns ssssssesseseeeeeserersereeereeres 294 TOE oc steiscieeviebhnieiiaehaninieths 183 185 POUL E 185 TEUD enre N 183 206 210 ret rn ACATESS occ eeeeeeeeeeeeecseeeeneeeteeees 177 REU isin sen unin 334 Command line 0 eee eeeeeeeeeeneeeeeeees 335 root memory KEY WOE si 50 sistesntevsparssenpcoeenedesteceesoee 206 memory MAP 00 eee eee eee eeeeeese eee eees 129 Static variables 0 0 ee eeeeeeeeeseceeeeeees 131 variable address eeeeeeceeseceeeeeeeees 174 ROOT _SIZE_ AK woeiccecsiscssesssnsssessessnsses 326 RST 28H csaiiuisito ness 250 320 run MENU arripere a n ir ia 250 MOU G25 5c socbeastverccterstesshiieteivetotane 247 250 MO POUING ss icetecderscitciseteisticsntecederooets 250 S saying a Hle eee e 243 SCOLUNC siriarren eree iee piae ieie 206 SCarCh texi
239. exe is located in Diagnostics Serial_1Io Itis also in the file SeriallI0O_1 zip available for download at www rabbit com support downloads This utility is a specialized terminal emulator program and comes with several diagnostic programs The diagnostic 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 4000 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 serialIO 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 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 setting ENABLE_ERROR_LOGGING to 1 in ERRLOGCONFIG LIB Error logging is no longer supported as of Dynamic C 10 40 Dynamic C User s Manual rabbit com 84 Watchdogs Ten vi
240. exist you will get an ENOENT error Use FAT_MUST_CREATE if you know the file does not exist This is a fail safe way to avoid opening and overwriting an existing file since an EEXIST error is returned if you attempt to create a file that already exists e amp my_file isa file handle that points to an available file structure It will be used for this file until the file is closed e amp prealloc points to the number of bytes to allocate for the file You do not want to pre allocate any more than the minimum number of bytes necessary for storage and so prealloc was set to 0 You could also use NULL instead of prealloc and prealloc 0 Next the sample program writes the data Hello world r n to the file fat_Write my_file Hello world r n 15 The parameters are as follows e smy_file isa pointer to the file handle opened by fat_Open e Hello world r n is the data written to the file Note that r n carriage return line feed appears at the end of the string in the call This is essentially a FAT or really DOS convention for text files It is good practice to use the standard line end conventions If you just use n the file will read just fine on Unix systems but some DOS based programs may have difficulties e 15 is the number of characters to write Be sure to select this number with care since a value that is too small will result in your data being truncated
241. f Dynamic C Dynamic C integrates the following development functions e Editing e Compiling e Linking e Loading e Debugging into one program 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 develop ment system to write assembly language code C and assembly language may be mixed together Debugging under Dynamic C includes the ability to use print f commands watch expressions break points and stack tracing 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 while the target is running its program Stack tracing shows function call sequences and parameter values Dynamic C provides extensions to the C language such as shared and protected variables costatements 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 pro gramming machine level I O and provide standard string and math functions 2 1 1 Speed Dynamic C compiles directly t
242. f 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 call to_sysIsSoftReset checks to see if the previous board reset was due to the compiler restart ing 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 variables 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 that shares data among different tasks or among interrupt routines can find its shared data cor rupted 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 change
243. features The Run menu has options for tog gling breakpoints and for single stepping The Inspect menu has options for manipulating watch expres sions disassembling code and for dumping memory 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 features 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 3 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 buttons respectively The Environment Options dialog has a tab labeled Debug Windows There are a number of configura tion options available there You can choose to have all or certain debug windows open automatically 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 information fields are visible See the section titled Debug Windows Tab on page 266 for complete information on the specific options available for each window The Project Options dialog has a tab labeled Debugger This is whe
244. fore 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 iae Op first field chart eik second field xyZ zyz my SCrUEL my _ SecUce TWG p e asm Zor a clear register A ld hl SP RETVAL ss f1 hl lt the offset from SP to f1 field of returned struct add hl sp hl now points to f1 le all pa load a now QO to fl endasm It is crucial that SP be added to RETVAL because RETVAL is an offset from the frame reference point not from the current SP Using Assembly Language rabbit com 183 13 5 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 p 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 values 2 If the function return is a st ruct reserve space on the stack for the returned structure Most func tions do not return structures Compute and push the last argument if any 3 4 Compute
245. function that has no parameters The fol lowing example shows how to call a function chain that is named recover makechain recover recover Language rabbit com 24 4 6 Global Initialization Various hardware devices in a system need to be initialized not only by setting variables and control regis ters but often by complex initialization procedures Dynamic C provides a specific function chain _GLOBAL_INTIT for this purpose Your program can add segments to the _GLOBAL_INIT function chain as shown in the example below Lome umy_itwine Clieie 3 main my rane ALO p long my uae lehene I i statie inme i static long array 256 The GLOBAL_INIT section is automatically run once when the program starts up GLOBAL_INIT foie a Op i lt 1003 aaa 4 arreaylal i r return array j 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 the y were compiled The storage class for variables used in a global initialization section must be static Since the default storage class is auto you
246. 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 Hints and Tips rabbit com 323 The correct calls are call foo_root and 1lcall foo_xmem If the assembly function 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 19 4 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 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 e Decrease ROOT SIZE 4Ki The macro ROOT_SIZE_4K determines the beginning logical address for the data segment Root data space can be increased by decreasing ROOT_SIZE_4K in StdBIOS c At the time of this writing RAM compiles should be done with no less than the default value 0x6 of DATAORG when separate I amp D space is off This restriction is to ensure that the pilot BIOS does
247. g Parameter mismatch when registering a device The device had outstanding cache entries from EMISMATCH 311 previous boot but the caller is attempting to change the cusize cache unit size or removable status Internal error device not registered when EDEVNOTREG 312 _fatwtc_devwrite called She ee erases Internal error not writing full physical sector in EPARTIALWRITE 313 f _fatwtc_devwrite Rollback journal overflow Transaction requires too much data to be stored Either increase FJOVERFEOW 314 FAT_MAXRJ in the BIOS or review calling code to make sure transactions are terminated at the right time and do not journal unnecessary data FAT File System rabbit com 159 Table 2 FAT Specific Error Codes Code Value Description ETRANSOPEN 315 fatrj_transtart called with transaction already open Internal error a tied cache group is in an BROKENT 316 GUNES oe inconsistent state ees fatrj_setchk Q called without transaction being ETRANSNOTOPEN 317 open Transaction cannot contain both checkpoint and ECMCONFLICT 318 marker data File is in an invalid state Probably because the EFSTATE 319 FATfile structure was not zero when opened for the first time Partition is in an invalid state This occurs if EPSTATE 320 you are trying to delete a file when another file is being allocated or vice versa ECORRUPT 321 FAT f
248. g For example debug norst foo will perform run time checking if enabled but will not have rst instructions Keywords rabbit com 195 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 statement executes when expression is true if expression statement else statement statement executes when expression is false rabbit com 196 Keywords enum Defines a list of named integer constants enum foo white default is O 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 declara tions 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 ey int var far This
249. g it void my_function int ptr assert ptr 6 2 12 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 avail able when a program is compiled the Assembly Register and Stack windows They are described in detail in Chapter 16 in the sections titled Assembly F10 Register Window and Stack F12 respectively Dynamic C User s Manual rabbit com 83 xalloc_stats Prints a table of physical addresses that are available for allocation in xmem via xalloc calls To dis play this information in the Stdio window execute the statement xalloc_stats 0 in your application or use Inspect Evaluate Expression The Stdio window will display something similar to the following pesto eee Available xalloc regions om Region Low addr High addr Size Avail Type 3 dummy 2 dummy 1 524288 749055 224768 217688 normal GxBGG8H000 GxOG0b6dFf GxGG036e08 Gx AAASSAHA 6 786432 1048575 262144 262144 normal GxGGGch000 GxboGFffff GxGG840006 Gx aGG4G505 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 does not exist Each region is identified as normal or BB RAM which refers to memory that is battery backed SerialIO exe The utility serialI0O
250. ge which contains links to user forums downloads for Dynamic C and information about 3rd party software vendors and devel opers 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 win dow that is displayed when Dynamic C initializes About The About command displays the Dynamic C version number and the registered serial number Graphical User Interface rabbit com 299 RABBI TE 17 COMMAND LINE INTERFACE The Dynamic C command line compiler dccl_cmp exe performs the same compilation and program execution as its GUI counterpart dcrabxx exe but is invoked as a console application 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 win dow and are optionally written or appended to a text file Note that the command line compiler resides in the directory where you installed Dynamic C In the con sole
251. gnize the argument list in function pointer declarations and would generate an error The syntax for the above examples would have looked like the following ime ume p woe rune 2 Note that in ANSI C and Dynamic C 10 62 and later these statements use valid syntax that indicates that any parameters passed to the function pointers will not be type checked essentially providing a wild card for the parameter list Using this syntax is dangerous since it can lead to stack imbalances passing a 16 bit integer to a function taking a 32 bit long for example and it should be used with great care It is advisable that function pointers in older Dynamic C programs be updated to use parameter lists to catch potential errors but those programs will continue to compile without changes in Dynamic C 10 62 and later The following program shows some examples of using function pointers HIME Line iWin lime sz Lae sy p typedef int fnptr int int create pointer to function that returns an integer main LIME X WP ine time Glin LME declare var fncl as a pointer to an int function rapte o2 declare var fp2 as pointer to an int function faeil Ame EUNE initialize fnc1 to point to intfunc fp2 intfunc initialize fp2 to point to the same function x fmel 1 2 call intfunc via fncl WV vio 3 4 p callintfunc via fp2 jpiciintc it 7 Sea in sx F Printera ana y LIME da
252. gram s s s 26 AD accusoveusessisecbaceessisvecsasteansuupensanedecdevsessteves 27 argument passing 0 0 177 183 184 E A A T R 151 arrange ICONS usssssseseisiiiiieriierisisessessseseee 290 MID ssccsceswencovcececesacscsvevaseecotenaeenddnevesscetesacss 141 ATOW KEYS nsss 240 241 MP cei tiie aces A tater aus as 141 n soe osc asta inte utc tabh 190 HASMI cscs scsvcssccscsnssassvestevceseuseaues 168 216 320 assembly scccvcessessssssssasseeanavs 9 168 188 250 debu E E EET 203 217 320 blocks in XMeM eee eee sees 176 define asics decnsevestesince sdeendoseescessecesesdtersesbese 217 embedding C statements 00 0000 169 sie I ape rece I E E E E S 219 ANd OTEEf anana 175 POISE E TT 219 WINdOW ceccccccccccccceccccececcececceceeceees 179 293 endasm P dacs 168 173 217 assignment Operators ee ceseceeeeeeeeeees 229 PODCIL E E T 219 associativity ooo ecceeesseeesss esses eeesseeeeee 225 226 HOLTON oaie Ta EE E AA ENEE 217 T EE 174 175 191 E ove sesccssevesaevessecdsavscsaeseopeceaesecaevesionss 218 storage of variables cssesesesseeeeees 177 funcchain ccccccceeessesssseesssseseseesees 24 218 Oi tio hats tard eapcd med E 219 B Hifdef ses Hiei Sneed EA 219 CT ee een 220 cia o a n continuation in directives 0 0 cee 216 FIMCIUGE sectesscicatendss sidecelees Gye E tases 220 abse ce of 26 Daud tate osarete 103 274 Sees eg te a BODE visiirisi 175 183 184 PINterleave en ER n 220 i BeginHe
253. h Two 4 Redo Shift Gtri z types of undo are supported applied to a single operation and applied to a group of the same operations 2 continuous deletes are considered a single operation Select All Ctri A Cut Ctrl x Dynamic C only discards undo information if the Undo Copy Ctrl C after save option is unchecked in the Editor dialog under E Paste Ctrl Environment Options Insert Code Template T Toggle Bookmark n Go to Bookmark r Redo lt Shift Ctrl Z gt Redoes changes recently undone This command only works immediately after one or more Undo operations i Find Ctrl F Select All lt Ctri A gt M Replace F6 The keyboard shortcut lt Ctrl A gt no longer clears all break points Starting with Dynamic C 10 21 this shortcut selects all text in the active window Select All works in the fol lowing windows Editor Stdio Message Disassembly Reg isters Stack Watch Stack Tracing Grep Results and Function Description BA Find Next F3 Reverse Find Next Alt F3 Gly Find in Files Grep Ctrl F3 Go to Line Number Ctrl G Close All Greps Alt G a E Cut lt Ctrl X gt Removes selected text and saves to the clipboard ta Previous Error AEE v Next Error ANE 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 abl Edit Mode F4 Paste lt Ctrl V gt Pastes text from the clipboard to the
254. haracter of dd if the value is less than 10 DATE__ Go to the Compiler tab of Project Options and click on the Advanced button at the bottom of the dialog box Check 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 DEBUG_RST Dynamic C User s Manual rabbit com 325 Table 20 1 Macros Defined by the Compiler Macro Name Definition and Default f The compiler substitutes this macro with the current source code file cae name as a character string literal The compiler substitutes this macro with the current source code line ae number as a decimal constant Boolean value Tells the compiler whether or not to include the BIOS when compiling to a bin file This is an advanced compiler option accessible by clicking the Advanced button on the Compiler tab in Project Options NO_BIOS Boolean value It defaults to 0 Set it by selecting Compile defined _TARGETLESS_COMPILE__ target configuration to bin file under Default Compile Mode in the Compiler tab of Project Options 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 A 2 Macros Defined in the BIOS or Configuration Libraries This is not a comprehensive list of configur
255. hat Dynamic C will use to externally define flash flash ini From the Choose File Locations dialog box visible by selecting Setup File Locations type in a pathname or click on the ellipses radio button to browse for a file c1RFU myProgram bin fi myflash ini Select a new secondary loader bios pilot bin From the Setup Boot Strap Loaders dialog box type in a pathname or click on the ellipses radio button to browse for a file c1RFU myProgram bin pb mySecondaryLoader bin Select the comm port and baud rate for the serial connection COM 1 and 115 200 bps From the Setup Communications dialog box choose values from the Baud Rate and Comm Port drop down menus cLRFU myProgram bin s 2 115200 Causes the RFU version number and additional status information to be displayed Only error messages are displayed Status information is displayed by default and there is no option to turn it off cLRFU myProgram bin v 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 cLRFU myProgram bin vp Command Line Interface rabbit com 314 vp Description Default RFU GUI Equivalent Example usb Description Default RFU GUI Equivalent Example usb Description D
256. he built in I O functions check the option Inline builtin I O functions in the Com piler dialog which is accessible by clicking the Compiler tab in the Project Options dialog 19 3 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 com piler will put this data in flash See the description of the const xdata and xst ring 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 8K sizeof SysIDBlock bytes or less if there are calibration constants For specific information about the User block on your board open the sample programs userblock_info c and or idblock_report c The latter program will print among other things the location of the User block 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 of a battery on a Rabbit board is specified in the user s manual for that b
257. he examples are sug gestions 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 6 2 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 There is also the ability to redirect output to any one of the available serial ports A B C D E or F See Samples stdio_serial c for instructions on how to use the serial port redirect This feature 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 characters Pros A printf 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 information that can be conditionally compiled using macro definitions This is a technique used by Rab bit engineers when developing Dynamic C libraries 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
258. he 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 addition an FS2 file may be decompressed into a new FS2 file by using DecompressFile Security Software amp Utility Programs rabbit com 332 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 V 1 3 2 File Compression Decompression API The file compression API consists of 7 functions 3 of which are of prime importance OpenInputCompressedFile open a compressed file for reading or open an uncompressed 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 OpenOutputCompressedFile open FS2 file for use with CompressFile CloseOutputCompressedFile close file and deallocate memory buffers CompressFile compress an FS2 file placing the result in a second FS2 file DecompressFile decompress an FS2 file placing the result in a second FS2 file Complete descriptions are
259. he 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 support and the user will receive an error message if they attempt to add a breakpoint Graphical User Interface rabbit com 282 Enable watch expressions If this box 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 kernel uses a small amount of root RAM for evaluating each watch expression so reducing 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 Watch expressions automatically include the addition of structure members when a watch expression is set on a struct Some extended memory is reserved for handling watch expres sions on structs As shown in the above screen shot 512 bytes of xmem is reserved by default This can be changed to anything 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 availab
260. he next statement modifies the internal file position pointer The first time this costate runs readto is zero meaning the position pointer is at the first byte of the file The variable readto is incremented every time a record is read from the file allowing showdata to always know where to seek to next waitfor fat_Seek amp file readto SEEK SET EBUSY The rest of showdata is a while loop inside of a while loop The inner while loop is where each record is read from the file into the buffer and then displayed in the Stdio window with the printf call Since fat_Read may return less than the requested number of bytes the while loop is needed to make sure that the function will be called repeatedly until all bytes have been read When the full record has been read it will then be displayed to the Stdio window FAT File System rabbit com 147 The outer while loop controls when to stop reading records from the file After the last record is read the fat_Read function is called once more returning an end of file error This causes the if statements that are checking for this error to return TRUE which resets filestate to zero breaking out of the outer while loop and freeing the lock for the put data costatement to use whil filestate icount 0 iptr ibuf while icount lt REC_LEN WGlLIE IOI iS Teens _IRSAC Gis jee INaC_IheN i eimuae EBUS O iit ie lt 0 if rc
261. heck 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 Include debug code when compiling to a file RST 28 instructions are included This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Select Always or Auto under Include RST 28 instructions Do not include debug code when compiling to a file This option is ignored if not compiling to a file RST 28 instructions are included This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Select Never disables debugging under Include RST 28 instructions Command Line Interface rabbit com 304 ri ri rp rp rw Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Enable runtime checking of array indices Runtime checking of array indices is performed Check Array Indi
262. hen it is waiting allowing other tasks to execute Dynamic C has language extensions costatements and cofunctions to support cooperative multitasking Preemptive multitasking 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 system 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 Figure 5 1 Big Loop Top of loop State machine State machine Dynamic C User s Manual rabbit com 33 Within this endless 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 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
263. hich to resume execution of the costatement If Last locADDR is zero as it is when initialized the costatement executes from the beginning subject to the CSSt ate flag If last locADDR is nonzero the costatement resumes at the 24 bit address represented by last locADDR and last locCBR These fields are zeroed whenever one of the following is true e the CoData structure is initialized by a call to _GLOBAL_INIT CoBegin or CoReset e the costatement is executed to completion e the costatement is aborted Check Sum The ChkSum field is a one byte check sum of the address It is the exclusive or result of the bytes in lastlocADDR 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 Multitasking with Dynamic C rabbit com 40 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
264. his 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 Macros and Global Variables rabbit com 327 A 4 Exception Types These macros are defined in errors lib define ERR BADPOINTER 228 define ERR _BADARRAYINDEX 229 define ERR DOMAIN 234 define ERR_ RANGE 235 define ERR FLOATOVERFLOW 236 define ERR LONGDIVBYZERO 237 define ERR LONGZEROMODULUS 238 define ERR BADPARAMETER 239 define ERR INTDIVBYZERO 240 define ERR UNEXPECTEDINTRPT 241 define ERR CORRUPTEDCODATA 243 define ERR_ VIRTWDOGTIMEOUT 244 define ERR BADXALLOC 245 define ERR BADSTACKALLOC 246 define ERR BADSTACKDEALLOC 247 define ERR BADXALLOCINIT 249 define ERR NOVIRTWDOGAVAIL 250 define ERR_ INVALIDMACADDR 251 define ERR_INVALIDCOFUNC 252 A 5 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 5 1 Shadow Registers Shadow registers exist for many of the I O registers They are character variables defined in the BIOS The naming convention for shadow registers is to append the wo
265. ic 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 ine OO Ghar Cowie GLOBAL_INIT initialize count Coume i make port A output WrPortI SPCR SPCRShadow 0x84 output count WrPortI PADR NULL count increment and return count ISIC UIE sarPSOUlint p Keywords rabbit com 218 if elif else endif Syntax if constant_expression elif constant_expression else endif These directives control conditional compilation Combined they form a multiple choice i f 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 i1 BOARD TYPE 1 define product Ferrari elif BOARD_TYPE define product Maserati elif BOARD_TYPE define product Lamborghini else define product Chevy fendif The e1if and else directives are optional Any code between an e1se and an endif is com piled if all values for constant_expression are false ifdef Syntax ifdef name This directive enables code compilation if name has been defined with a de fine directive This direc tive must have a mat
266. ieschessiesstesteareanien 51 AE a ene me CAA sega 5 9 3 Restrictions cssssassssssssseutee 51 4 5 Function Chaining s es 24 5 9 4 Slice Data SUCHE aeons 51 4 6 Global Initialization eee 25 FEESTE r noi as 51 Al LADtariess cclesconictencsscteetecestesnsvecnesscnantevins 26 GVO I a E uate 53 4 7 1 LIB DIR oo eceeecceeeeseeeeeeeeeneeeeneees 27 5 10 1 Changes to uC OS I 54 4 8 eadets c sisitticitestieoi aed chee ds 28 5 10 2 Tasking Aware Interrupt Service 4 9 Modules cccccccccecessscececeeessseeeeeeeseneeeeees 28 Routines TA ISR ecsscsesectcielesuncisie 56 Fide Tne Parts Of a Module s siit 28 5 10 3 Library Reentrancy 62 4 9 2 Module Sample Code 0 00 30 5 10 4 How to Get a uC OS II Application 12a Important Os RUMMING soisissa eiar 62 4 10 Function Description Headers 32 5 10 5 Compatibility with TCP IP 67 4 11 Support Files 00 eeeeeseeeeeeeeeeeeeeeeeee 32 5 10 6 Debugging Tips scccssssessseseessoe 68 5 Multitasking with Dynamic C ee 33 5 11 SUMMary ceecsececeecsseseseseeeeeeeeeeseeeeeeeeeees 68 5 1 Cooperative Multitasking 0 0 eee 33 6 Debugging with Dynamic C 69 5 2 A Real Time Problem eee 34 6 1 Debugging Features of Dynamic C 69 Table of Contents rabbit com 3 6 2 Debugging Tools eee eeeeeeeeeeeeees 71 9 3 4 Error Logging Functions 128 6 2 1 PUM Jiron sainn 71 9 3 5 Examples of Error Log Use 128 B
267. ifference 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 cir cumstances 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 supposed 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 requirements 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 Function description headers allow functions from libraries listed in lib dir to be displayed in the Function Lookup option in Dynamic C s Help menu or by using the keyboard sho
268. ified to work with Rabbit based boards with 4 5 MB of memory An on chip memory management unit MMU translates 16 bit addresses to 24 bit memory addresses for Rabbit 4000 and 5000 based boards Four MMU registers SEGSIZE STACKSEG DATASEG and XPC divide and maintain the logical sections and map each section onto physical memory Any memory beyond the 16 bit address capability of the processor whether flash or RAM is called xmem and requires memory management techniques for access 10 1 Memory Map A typical Dynamic C memory mapping of logical and physical address space is shown in the figure below The actual layout may be different depending on the Rabbit processor used the board type and which compilation options are selected For example enabling separate I amp D space will affect the memory map Figure 10 1 Dynamic C Memory Mapping with a Rabbit 4000 Based Board Ox1FFFFF MECR 0x20 OxFF FF GxE00 Root Data RAM k Interrupt Vectors 0xD00Q0 Dood ee 0x1B1000 Watch Code 1 MB External intertupt ooog factors x 0x1A9000 Data Segment 0x1A8000 Root Data Xmem Code from Xmem Segment Flash Base Segment 1MB Root Code OxCCO C 0x0000 4 Logical Address Space Physical Address Space Dynamic C User s Manual rabbit com 129 The register set provided by the Rabbit makes it easy to access the physical memory directly bypassing the logical to physical
269. ile will be created with the minimum one cluster allocation FAT File System rabbit com 151 Once you are finished with the file you must close it to release its handle so that it can be reused the next time a file is created or opened we tere Close smy file Remember to check the return code from fat_Close since an error return code may indicate the loss of data Once you are completely finished call fat_UnmountDevice to make sure any data stored in the cache is written to the flash device 12 4 2 2 Read and Write Operations Use fat_Read to read a file te tac Read Gimy tile burt Size r1 lowe p The first parameter amp my_file is a pointer to the file handle already opened by fat__Open The parameter buf points to a buffer for reading the file The sizeof buf parameter is the number of bytes to be read into the buffer It does not have to be the full size of the buffer If the file contains fewer than sizeof buf characters from the current position to the end of file marker EOF the transfer will stop at the EOF If the file position is already at the EOF 0 is returned The maximum number of char acters read is 32767 bytes per call The function returns the number of characters read or an error code Characters are read beginning at the current position of the file If you have just written to the file that is being read the file position pointer will be where the write left off
270. ilesystem appears to be corrupted FAT File System rabbit com 160 12 5 More FAT Information The FAT file system stores and organizes files on a storage device such as a hard drive or a memory device 12 5 1 Clusters and Sectors Every file is stored on one or more clusters A cluster is made up of a contiguous number of bytes called sectors and is the smallest unit of allocation for files The Dynamic C FAT implementation supports a sec tor size of 512 bytes Cluster sizes depend on the media The table below gives the cluster sizes used for some of our RabbitCore modules Table 3 Cluster Sizes on Flash Devices RabbitCore Model Flash Device aa A RCM 3700 1 MB Serial Flash 1 RCM 3300 4 and 8 MB Serial Flash 2 RCM3360 70 NAND Flash 32 The cluster size for a NAND device corresponds to its page size Note that a file or directory takes at mini mum one cluster On a NAND device the page size is 16K bytes therefore while it is allowable to write very small files to the FAT file system on a NAND device it is not space efficient Even the smallest file takes at least 16 000 bytes of storage Cluster sizes for SD cards vary with the size of the card inserted To determine the number of sectors per cluster on an SD card divide the size of the card by 32MB 12 5 2 The Master Boot Record The master boot record MBR is located on one or more sectors at the physical start of the device Its basic structure is illustrate
271. in directives may be found in the Rabbit 4000 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 assem bly block or done in C For more information see Section 13 2 2 Defining Constants e debug Enables debug code during assembly e nodebug Disables debug code during assembly This is the default condition It is still possible to sin gle 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 directives 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 e static Place local variables in permanent fixed storage This option was deprecated in Dynamic C 10 44 The keyword static is still available to apply the static storage class to variables The default storage class is auto Keywords rabbit com 216 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 or nodebug directive In other words if a func tion
272. ing 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 statement 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 costatement s statement pointer Consult Chapter 5 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 statement is executed 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 running To 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 expres sions then press lt Ctrl U gt repeatedly to observe as secs increases 3 4 Summary of Features This chapter provided a quick look at the interface of Dynamic C and some of the powerful options avail able for embedded systems programming The following several paragraphs are a summary of what we ve discussed Development Functions When you load a prog
273. ing that enables the option Consolidated which toggles the visibility of the consolidated toolbar even when it is undocked from the control bar Graphical User Interface rabbit com 288 Select Customize Button Groups to bring up the Customize Menu Buttons window This window allows you to change which buttons are associated with which button group on the toolbar Customize Menu Buttons Ea Create a new file Open a file Save current file Save All Edited Files Create a new project with factory sett D a lal i gt Open Project Save Project if fo ste r A Save Project As l Choose a button group on the left side of the window this causes the icons for the buttons in that group to display on the right side of the window Click and drag an icon from the right side of the window to the desired button group on the toolbar To remove an icon from its button group click and drag the icon off the toolbar or to another button group on the toolbar The Customize Menu Buttons window must be open to change the position of an icon on the toolbar Graphical User Interface rabbit com 289 16 8 Window Menu Click the menu title or press lt Alt W gt to display the Window menu You can choose to minimize restore or close all open windows or just the open debug window or just the open editor windows The second group of items is a set of standard Windows commands that allow the application windows to b
274. ingle USET cesh ccesssvnsesensssendesenssseeseoees 45 suspend snenia adidas 212 NAAL e EET 43 oo Ce loader iriaren 249 column resizing eeseeeseeeeeeererrereeereeeee 294 command line interface 300 315 compile BIOS cein e AEA 249 command line ee eeeeeeeeeeeeees 300 313 CITONS anaE aati 247 MEDU Sasiciinccienctinaceccasuateseae Eeen 248 OPULONS suisia e e EE 276 RAM Reire coerernecen e orriei 324 SPCOd eae aide E ASS 9 StAtUs oeeo EE ENE E 295 topin Tle srini ansi 249 tO Tle aroro tecer aeaee ia i 240 to fl sh sneren negenen 248 LOWAT SEL vives ccvsovcessvhesessacevssonesesieess 240 248 compiler directives 0 eee eee 216 OPUIONS sisses inris 216 HCIASS snnsionene noe 216 OptONS sicsoiesoiisroiresesrereseoresriseis 216 HACDUG sseenrenrenrenrnis 203 217 320 56 301 oer 217 Feli aisanana S 219 Heleena ee e e EEE 219 FENAASM csser 168 173 217 endif oo eccceseecceceesseceeeeeesesseeeeessnees 219 501000 Ge ee ee a are 217 HL Atal eeen 218 funcchain 00 cceesseeceeeeesseeeeeee 24 218 GLOBAL_INIT ccccceececeeeeeeees 218 HE Mesdueee aes cascatecctscedel ces cheetereisteandesecs 219 HILGOR soreer cadascdenteassaseehteeeesestscaenriens 219 Hifndef secncninoer o 220 include ooo eeceeeseecceeeessseceeeeesseeeeeeessaees 220 HINIETIEAVE sssr A 220 makechain cccccccscccseeeeeseeesesees 24 221 FIMEMIMAP se eeeeeeeeceseeceececereeeeeeeeeeeees 221 OPULONS socera ienna 221
275. ings 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 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 will 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 0o MyOutput txt dccl_cmp myProgram c o MyOutput txt h dccl_cmp myProgram c h 0o 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 Command Line Interface rabbit com 310 Description Factor
276. interrupts can occur before this ISR is completed making it necessary for this ISR to be a TA ISR If it is possible for the ISR to execute before uC OS II has been fully initialized and started multi tasking a check should be made 5 to insure that uC OS II is in a known state especially if the TA ISR signals a task to the ready state 6 After the TA ISR has done its necessary work which may include making a higher priority task than is currently running ready to run OS Int Exit must be called 7 This wC OS II function determines the highest priority task ready to run sets it as the currently running task and sets the global flag bios_swpend if a context switch needs to take place Interrupts are disabled since a context switch is treated as a critical section 8 If the TA ISR decrements the nesting counter and the count does not go to zero then the nesting level is saved in bios_intnesting 9 the registers used by the TA ISR are restored interrupts are re enabled if not already done in 4 and the TA ISR returns 12 However if decrementing the nesting counter in 9 causes the counter to become zero then bios_swpend must be checked to see if a context switch needs to occur 10 If a context switch is not pending then the nesting level is set 9 and the TA ISR exits 12 If a context switch is pending then the remaining context of the previous task is saved and a long call which insures that the xpc is saved
277. ion 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 obvious for functions that are marked nodebug and have no auto local stack based variables Graphical User Interface rabbit com 277 Warning Reports This option tells the compiler whether to report all warnings no warnings or serious warnings 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 Store Program in This option selects the memory type Flash or RAM in which to store the program A single default BIOS source file defined in the system registry when installing Dynamic C is used for compiling both to RAM and Flash Flashi With 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 For boards with serial boot flashes the BIOS will copy the flash image to the fast RAM RAM With this option the compiler will load the BIOS to RAM when 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 dep
278. ions 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 cofunction 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 parame ters 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 controlled 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
279. iple masks are separated by so that lib and lib both include all files and lib 1lib c h includes all files with extensions of lib c and h Dynamic C gener ated files e g md1 hx1 etc are not parsed which means they are excluded when using the wildcard mask Dynamic C enforces unique file extension names regardless of path so that use myfile lib can not use an unintended copy of myfile 1ib as the list of pathnames included in 1ib dir is searched for the first occurrence of that file extension An error message naming both full paths will come up when trying to compile ANY program alerting the user of the infraction A new feature introduced in Dynamic C10 21 is the ability to define masks that use exclusion criteria that will exclude specified folders and files from the lib dir file Such a lib dir entry is just like a normal one except the it starts with gt a character that Windows does not allow in a folder name Once exclusions are defined they persist throughout all entries that follow To make this clear look at the following exam ples of lib dir entries Example 1 The following lib dir entries gt CVS Lib Rabbit4000 Samples Lib excludes CVS folder trees throughout following entries includes all files in Lib Rabbit 4000 and its subfolders except for CVS subfolders and includes all lib files in Samples and its subfolders except for CVS subfo
280. iseconds for any byte from previous one RETURN VALUE The number of bytes read from the buffer LIBRARY SP_STREAM LIB The Slave Port Driver rabbit com 116 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 SP_STREAM LIB The Slave Port Driver rabbit com 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 be tween bytes If no data is available when this function is called it will return immediately This function will call SPtick ifthe 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 The S
281. ite buffer The two 14 15 commands return the LSB and the MSB of the count respectively The LSB 14 should 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 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 MSopen cof_MSputc MSputc cof_MSread MSrdFree cof_MSwrite MSsendCommand MSclose MSread MSgetc MSwrF ree MSgetError MSwrite The Slave Port Driver rabbit com 104 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 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
282. ith 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 Opening 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 Graphical User Interface rabbit com 264 16 7 1 5 Code Templates Tab Click the Code Template tab to display the following dialog Environment Options x Debug Windows Print Alerts Description for statement function declaration if statement if else structure declaration switch statement while statement Library Header libdescription Library Description funcdescription Function Description Main program Cancel Help 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
283. ive prioritization among the DMA channels is set using one of the following constants e DMA_IDP_FIXED fixed priorities with higher channel numbers taking precedence e DMA IDP_ROTATE_FINE priorities are rotated after every byte transferred e DMA_IDP_ROTATE_COARSE priorities rotated after every transfer request the size of which is determined by chunkiness another parameter also passed to the function DMAsetParameters The DMA transfer priority and the relative prioritization among channels are set in DMAsetParameters Direct Memory Access rabbit com 133 11 4 2 DMA Transfer Mode DMA transfers can happen in burst or single cycle mode The chunkiness parameter passed to the DMA transfer function determines the burst size 11 4 3 DMA Transfer Functions There are three types of transfers with associated transfer functions 1 Memory to memory transfers Use DMAmem2mem 2 Internal I O address transfers to or from memory Use DMAioi2mem and DMAmem2ioi respectively 3 External I O address transfers to or from memory Use DMAioe2mem and DMAmem2ioe respectively 11 4 4 DMA Transfer Function Flags The DMA transfer functions accept the following flags e DMA _F_ REPEAT transfer will be a cycle e DMA F_INTERRUPT indicates an interrupt will be triggered at the completion of the transfer e DMA F_LAST_ SPECIAL only for Ethernet or HDLC peripherals Internal Source Status byte written to i
284. iven 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 option ally points to the Web Function Lookup lt Ctrl H gt Displays descriptions for library functions The keyboard shortcut is lt Ctrl H gt Library Function Lookup O x Function Search _glMenuKeypad in C D YNAMIC C VERSIONSSDC_1040 LIBSRABBI _glMenuShadow in C DYNAMIC C VERSIONSSDC_1040 LIBSRABB init amp DU in C N DYNAMIC C VERSIONS ADE 1040 LIBNRABBIT 40005 jing in C DYNAMIC C VERSIONS SDC_1040 LIB RABBIT 40004T CA GRAPHIC LIB HDLC_PACKET LIB HTTP LIB Fe _prot_init in C SDYNAMIC C VERSIONS DC_1 O40 LIBSRABBIT 4000 4 12C LIB _prot_recover in C D YNAMIC C VERSIONS SDC_1040 LIBSRABBIT 4 12C_DEVICES LIB _tem43_InitUCOSMutex in C DYNAMIC C VERSIONSSDC_10404LI1B ICMP LIB _send_ping in C NDYNAMIC C VERSIONS SDC_1040 LIBSRABBIT 40C dhk pih _send_ping_iface in C ADYNAMIC C VERSIONSSDC_1040 LIB RABE o Png _syslsSoftReset in C DYNAMIC C VERSIONSSDC_1040 LIBSRABBI Png _xalloc in C ADYNAMIC C VERSIONSSDC_1040 LIBSRABBIT 40005R _send_ping _xavail in C ADYNAMIC C VERSIONSSDC_1040 LIBSRABBIT 40004F send_ping_iface _2b_asyne in C DYNAMIC C VERSIONS DC_1040 LIBSRABBIT 4001 INDLADE LID _2b_find_free_buffer in C D YNAMIC C VERSI
285. ks 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 rabbitsemiconductor com docs 10 2 Extended Memory Functions A program can use many pages of extended memory xmem Under normal execution code in xmem maps to the logical address region 0xE000 to OxFFFF To move blocks of data between logical memory and physical memory you can still use the Dynamic C functions root2xmem xmem2root and xmem2xmem however Dynamic C also has the far keyword which makes use of physical addresses and thereby eliminates the need for root2xmem xmemZ2root and xmem2xmem 10 3 Code Placement in Memory Code runs just 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 memory 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 Memory Management rabbit com 130 C Functions C functions may be placed in root memory or extended memory Access to variables in C statements 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
286. l is unaware of interrupts above priority level 1 interrupt service routines for interrupts that occur at interrupt priority levels 2 and 3 should not be written to be tasking aware Also a wC OS II application should only disable interrupts by setting the interrupt priority level to 1 and should never raise the inter rupt priority level above 1 5 10 2 2 Possible ISR Scenarios There are several different scenarios that must be considered when writing an ISR for use with uC OS II Depending on the use of the ISR it may or may not have to be written so that it is tasking aware Consider the scenario in Figure 5 7 In this situation the ISR for Interrupt X does not have to be tasking aware since it does not re enable interrupts before completion and it does not post to a semaphore mailbox or queue Figure 5 7 Type 1 ISR Task 1 Interrupt X Interrupt X ISR ipres Task 1 Multitasking with Dynamic C rabbit com 56 If however an ISR needs to signal a task to the ready state then the ISR must be tasking aware In the example in Figure 5 8 the TA ISR increments the interrupt nesting counter does the work necessary for the ISR readies a higher priority task decrements the nesting count and returns to the higher priority task Figure 5 8 Type 2 ISR Task 2 Interrupt X Nesting Task 1 is readied Nesting 0 ipres Interrupt X TA ISR Task It may seem as though the ISR in Figure 5 8 does not have to incremen
287. lave Port Driver rabbit com 118 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 SPt ick 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 SPSwrFree int SPSwrFree void DESCRIPTION Returns number of free bytes in the stream write buffer RETURN VALUE Space available in the stream write buffer LIBRARY SP_STREAM LIB The Slave Port Driver rabbit com 119 SPSrdFree int SPSrdFree void 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 SPSwrUsed int SPSwrUsed void 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 The Slave Port Driver rabbit com 120 SPSrdUsed int SPSrdUsed void 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_STREA
288. lders Thus the ordering of the LIB DIR entries is meaningful as shown in the next example Example 2 As dictated by the following three entries the file Lib Rabbit4000 BiosLib Stdbios cis excluded from LIB DIR Para Samples Lib Rabbit4000 Reordering the entries as shown below results in the file Lib Rabbit4000 BiosLib Stdbios c being included in LIB DIR Lib Rabbit 4000 2 CS Samples Example 3 Dynamic C will not correctly process lines that include spaces Lib MyLibs Lib WRONG because of spaces in path Lib MyLibs Lib CORRECT spaces removed Language rabbit com 27 4 8 Headers The following table describes two kinds of headers used in Dynamic C libraries Table 4 1 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 9 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 of functions and variables within a library that may be referenced by files that have a use directive for th
289. le for xalloc calls Enable 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 program is stopped The Stack Trace window shows a con cise history of the execution path and values of local variables and function arguments that led to the current breakpoint all for a very small cost in execution time 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 com piled See Stack Trace Ctrl1 T on page 295 for details on using this debug window Graphical User Interface rabbit com 283 16 7 2 4 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 Synta
290. lent C function 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 A stand alone assembly routine needs to save and restore only the regis ters it uses Using Assembly Language rabbit com 184 13 6 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 p 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 explicitly 2 Push and pop the LXPC as a defensive programming strategy to avoid corrupting large memory support For example the LCALL instruction clears the LXPC so it is essential that this register is saved before issuing an LCALL and restored after the LRET W Determine the cause of the interrupt Some devices map multiple causes to the same i
291. lent 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 15 7 Postfix Expressions Grouping Expressions enclosed in parentheses are performed first Parentheses also enclose function arguments In the expression a b c 10 the termb cis evaluated first Array subscripts or dimension All array subscripts count from 0 int a 12 array dimension is 12 j a i references the ith element Operators rabbit com 234 dot The dot operator joins structure or union names and subnames in a reference to a structure or union ele ment struct int x int y coord m coord x ct ct ct SE Right arrow Used with pointers to structures and unions instead of the dot operator typedef struct int x int y coord coord p pis a pointer to structure m p gt x reference to structure element Operators rabbit com 235 15 8 Reference Dereference Operators amp 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 Ox0FFF z i1i6 amp j z gets OxOFFO Indirection or multiplication As a una
292. ler directive asm instead int func int RK pVyeZz asm ld hl 0x3333 Keywords rabbit com 190 auto A functions s local variable is located on the system stack and exists as long as the function call does int func auto float x bbram IMPORTANT bbram does not provide data integrity instead use the keyword protected to ensure integ rity of data across power failures Identifies a variable with static local or global extent scope for storage in battery backed RAM on boards with more than one RAM device Generally the battery backed RAM is attached to CS1 due to the low power requirements Other than its assigned root or far data location a bbram variable is identical to a nor mal root or far variable 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 Note that bbram variables must have either static or global storage For boards that utilize fast SRAM in addition to a battery backed SRAM the size of the battery backed root data space is specified by a BIOS macro called BBROOTDATASI ZE default value is 4K Note that this macro is defined to zero for boards with only a single SRAM See the Rabbit 4000 Microprocessor Designer s Handbook for information on how the second data area is reserved
293. les 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 Rabbit recommends using the embedded assembly techniques described in the next section Using Assembly Language rabbit com 175 13 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 1 jp or lcall asm xmem manimi lcall fcn_in_xmem lret endasm asm xmem rem in Meum liner endasm 13 3 2 Example of Stand Alone Assembly Code The stand alone assembly function foo can be called from a Dynamic C function iae HOO ime J A function prototype can be declared for stand alone assembly functions which will cause the compiler to perform the appropriate type checking main ALINE al 9 iil foo i asm foo lel al 2 The return value expected by main is put ret in HL just before foo returns endasm The entire program can be written in assembly asm main ret endasm
294. lete the file Remove the directory must be empty Read last bytes from file last 1k mas pdump Print partition fat starts ends Print FAT table te 641 stat filename Print file directory info format p Erase partition or device a Dp Ops hCelpJ Print this help message exit Exit this program Partition A is mounted A gt You can type h and press enter at any time to display the FAT shell commands FAT File System rabbit com 143 In the following examples the commands that you enter are shown in boldface type The response from the shell program is shown in regular typeface gt 1s Listing dir length 16384 hello txt rhsvdA len 15 clust 2 gt This shows the HELLO TXT file that was created using the FAT_CREATE C sample program The file length is 15 bytes Cluster 2 has been allocated for this file The ls command will display up to the first six clusters allocated to a file The flag rhsvdA displays the file or directory attributes with upper case indicating that the attribute is turned on and lower case indicating that the attribute is turned off In this example the archive bit is turned on and all other attributes are turned off These are the six attributes r read only v volume label h hidden file d directory s system a archive To create a directory named DIR1 do the following gt mkdir dirl Dilreccorey eiel eiceeicec wittin LOZ
295. ling to a bin file Graphical User Interface rabbit com 248 Compile to bin File Compiles a program and writes the image to a bin file 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 clicking on the Targetless tab which will reveal three additional tabs RTI File Specify Parameters and Board Selection To learn more about these tabs see Targetless Tab on page 285 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 a special 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 e 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 applica
296. ll focus on what shows the non blocking nature of the FAT library and how the application takes advantage of it Run Fat_NB_Costate c and after 10 seconds the Stdio window will show something similar to the fol lowing Figure 2 Screen Shot of Fat_NB_Costate c Running 1O x fat_AutoMount succeeded with return code R Fat_NB_Costate Log Press any key to exit 66 66 61 66 66 62 in M co j MN eR 0 0 i0 f 78 76 83 4 g Be 83 89 bode BBA NO e DWOMGM 00 Choe Mb B B i 68 6 B B B m Each line is an entry into a file that is stored in the FAT file system The file is appended once every second and read and displayed once every ten seconds In addition to the file system use and the screen output if you are using an RCM3300 RCM3700 or PowerCore FLEX development board the application blinks the LED on your board The code preceding main brings in the required library and declares the file structure And as expected there is no define for the macro FAT_BLOCK At the start of main some system vari able are created and initialized This is followed by the code to bring up the FAT file system which is sim ilar to what we examined in Section 12 2 1 when looking at fat_create c with two essential differences One since we have initialized the FAT to be in non blocking and we are making some calls to FAT functions that must return before we can continue we mu
297. ll 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 LIB DIR this file to contain all the libraries on the Dynamic C distribution 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 PROJECT DCP EFAULT DCP iw These files hold the default compilation environment that is shipped from the factory DEFAULT DCP may be modified but not PROJECT DCP See Chapter 18 for details on project files Language rabbit com 32 RABBI TE 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 preemptive and cooperative In a cooperative multitasking environment each well behaved task voluntarily gives up con trol w
298. lobal variables are by definition st atic Local variables are auto by default int func int i auto by default static float x explicitly static Keywords rabbit com 208 struct This keyword introduces a structure declaration which defines a type struct int x int y int z thingl defines the variable thing to be a struct struct speed int int int struct x Yi Zi declares a struct type named speed speed thing2 defines variable thing2 to be of type speed Structure declarations can be nested struct S S truct speed slow truct speed slower tortoise defines the variable tortoise to be a nested struct struct rabbit Ss S E truct speed fast truct speed faster declares a nested struct type named rabbit struct rabbit chips defines the variable chips to be of type rabbit Keywords rabbit com 209 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 com pared 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 match expression If the statements for a case do not include
299. lose menu option the default project default dcp becomes the active project i If DC is started with a cwd current working directory other than the exe directory the cwd will be used instead of the one saved in the project file This can happen if Dynamic C is started from a Windows shortcut with a specified starts in directory Dynamic C User s Manual rabbit com 316 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 proj ect unless the active project is factory dcp 18 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
300. lt or redirect to a serial port May also write to a file e Software Breakpoints Stop execution allow the available debug windows to be examined Stack Assembly Dump and Register windows are always available e Hardware Breakpoints The Run menu item Add Edit Hardware Breakpoints lets you set up to six hardware breakpoints on instruction fetches data reads and data writes Note that a hardware break point is not the same as a hard breakpoint Support for hardware breakpoints was added in Dynamic C 10 21 e Single Stepping Execute one C statement or one assembly statement This is an extension of break points 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 application Fly over hints evaluate 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 check assumptions before they are used in the code 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 e S
301. lue that brings program execution to the exact spot that you want as shown in this screen shot Dynamic C User s Manual rabbit com 73 Figure 6 1 Altering the Looping Variable when Stopped at a Breakpoint Pcaceonc _1o x as int i j Expression Result i 19999 int 19999 0x4E1F while 1 Close Help i Flor 4 0 4 lt 20000 j printt i ta n i 6 2 4 Hardware Breakpoints The Rabbit processor has seven hardware breakpoints Dynamic C 10 21 introduced support for this pro cessor feature One of the seven hardware breakpoints is used by the debug kernel The remaining six hardware breakpoints may be configured by selecting the Add Edit Hardware Breakpoints item from the Run menu Pros Hardware breakpoints can be set on any instruction fetch or any data read or write this includes code marked as nodebug You can set multiple breakpoints in a pro gram When stopped at a breakpoint you can examine up to date contents in debug win dows and choose other debugging features to employ such as single stepping dumping memory and fly over watch expressions Cons Hardware breakpoints are more time consuming to configure than software break points You must know the address where you wish to stop and also whether the ac cess is for data or code Uses Allows greater access to nodebug Dynamic C library code during program exe cution Offers increased knowledge when tracking hard to
302. m Update for more information This document is available on the Dynamic C soft ware CD and on the Rabbit Support web site e 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 segments belonging to that chain execute Function chains allow software to perform initialization data recovery or other kinds of tasks on request Dynamic C also provides a special function chain called GLOBAL_INIT which can be used for initialization code The GLOBAL_INIT function chain is executed at the start of the program Dynamic C also provides a special function chain called GGLOBAL_INIT which can be used for initialization code The GLOBAL_INIT function chain is executed at the start of the pro gram e Costatements allow cooperative parallel processes to be simulated in a single program e Cofunctions allow cooperative processes to be simulated in a single program e Slice Statements allow preemptive processes in a single program e Dynamic C supports embedded assembly code and stand alone assembly code e Dynamic C has keywords that help protect data shared between different contexts shared or stored in battery backed memory protected e Dynamic C has a set of features that allow the programmer to make the fullest use of xmem extended memory Up until the release of Dynamic C 10 21 the compiler supported a 1 MB physical addr
303. mand 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 win dows and choose other debugging features to employ such as single stepping dumping memory fly over watch expressions To support large sector flash breakpoint internals require that breakpoint overhead remain even when 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 change the JR instruction to a JP instruction Another solution is to embed a null C statement in the assembly code like so asm c Seta breakpoint on the semicolon endasm Use software breakpoints when you need to stop at a specified location to begin sin gle stepping or to examine variables memory locations or register values Open Samples Demol c Press F5 to compile the program then place the cur sor on the word for and press F2 to insert a breakpoint Now press F9 Every 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 information through debug windows For example 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 looping variable to a va
304. mbedded C Syntax A C statement may be placed within assembly code by placing a c in column 1 Note that the registers used in the embedded C statement will be changed asm InitValues estarei cima Os c counter 256 rer endasm 13 1 3 Setting Breakpoints in Assembly There are two ways to enable software breakpoint support in 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 jr instructions to go out of range but this problem can be solved by changing the relative jump jr to an absolute jump jp Below is an example asm debug function ret endasm 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 be contained in a debug C function to enable C code debugging Below is an example debug dummyfunction asm d function label omer 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 assem bly window is open Dynamic C 10 21 introduces support for the hardware breakpoint capability available with the Rabbit 4000 microprocessor For more informatio
305. mic C User s Manual rabbit com 78 There is no run time checking for string manipulation so if you wrote something like the following in your application memory would be corrupted when the null terminator for the string 1234 was written void foo int x char str 4 x Oxffff strepy str 1234 Watching changes in a dump window will make the mistake more obvious in both of these situations though in the former turning on run time checking for array in dices in the Compiler tab of the Project Options dialog is easier 6 2 9 MAP File Map files are always generated for compiled programs 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 their location size and 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 com prehensive overview of the program A map file can help you make better use of memory in cases wher
306. mp 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 mem ory using the given xpc If Full Range is selected the window 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 Watch Window The Watches window configuration options Enable watch expression evalution in flyover hint and Show watch expression evaluation errors in flyover hint do not actually affect the Watches window When checked they allow you to use flyover hints in the source code win dow 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 Hardware Breakpoints There are no configuration options for the Hardware Breakpoints window Stack Trace Window There are no configurati
307. mpile according to the setting of Default Compile Mode See Default Compile Mode in Chapter 16 for how to set this parameter 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 executable 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 impractical 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 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 expression j will be eval uated 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 curso
308. munication 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 SPset Handler The Slave Port Driver rabbit com 98 8 2 Functions Slave_port 1ib provides the following functions SPinit SPsetHandler MyHandler SPtick SPclose SPinit int SPinit int mode DESCRIPTION This function initializes the slave port driver It sets up the callback tables for the different chan nels The slave port driver can be run in either polling mode where SPt ick must be called periodically or in interrupt mode where an ISR is triggered every time the master sends a com mand There are two version of interrupt mode In the first interrupts are reenabled while the han dler 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 The Slave Port Driver rabbit com 99 SP
309. must define variables as static in your application The _GLOBAL_INIT function chain is always called when your program starts up so there is nothing special to do to invoke it In addition it may be called explicitly at any time in an application program with the statement _GLOBAL_INIT Make this call this with caution All costatements and cofunctions will be initialized See Section 7 2 for more information about calling GLOBAL_INIT Language rabbit com 25 4 7 Libraries Dynamic C includes many libraries files of useful functions in source code form They are located in the LIB directory where Dynamic C was installed To support larger memories some changes to the Dynamic C environment were made in version 10 21 One such change is that the LIB directory now contains two separate directories Rabbit2000_3000 and Rabbit4000 Each directory contains the same structure previ ously used by LIB but the libraries have been updated for the Rabbit 4000 processor in the Lib Rabbit4000 directory The default library file extension is LIB Dynamic C uses functions and data from library files and com piles them with an application 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 contains a main function called main and usually other user defined functions Any addi
310. n Execution contin ues at the statement following yield the next time the costatement or cofunction is encountered by the execution thread Figure 5 4 Execution thread with yield statement ge ae 4 costate I costate statement statement Statement Statement sous I sca m AA N yield N yield aea A gt gt statement statement statement statement J f a Execution of yield b Execution thread the next time the costate Multitasking with Dynamic C rabbit com 38 abort The abort statement causes the costatement or cofunction to terminate execution If a costatement 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 Figure 5 5 Execution thread with abort statement y y costate costate Statement Statement statement Statement abort ty abort Statement Statement Statement Statement l P pr lt Z Sha i y a At time of abort b Next time A costatement can have as many C statements including abort yield and wait for statements as needed Costatements can be nested 5 4 Advanced Costatement Topics Each costatement has a structure of type CoData This structure contains state and timing information It also contains the address inside the costatement that will execut
311. n RERE 184 Break points ssccscsorsssesscestssgesswevwcsasesapets 250 keyword for ISR oo ee eeeeeeeeeees 202 VALENCY sesdecescesctveseiecschctzcadee deserstieteenses 184 unpreserved registers eee eee 188 VEClOTS shore rsio aonr Eige 185 ISR prine 184 322 IX index register 44 180 182 204 211 Index rabbit com 344 K KO Yasin is ieee keystrokes lt ALT Backspace gt undoing changes eeeee lt ALT C gt select Compile menu lt ALT F10 gt Disassemble at Address lt ALT F2 gt Toggle Hard Breakpoint lt ALT F4 gt quitting Dynamic C oe lt ALT F9 gt Run w No Polling lt ALT H gt select Help menu c 00 lt ALT O gt select Options menu lt ALT SHIFT backspace gt redoing changes s es lt ALT W gt select Window ment lt CTRL F10 gt Disassemble at Cursor lt CTRL F2 gt Reset Program s lt CTRL G gt GOO isie oeir es io lt CTRL H gt Library Help lookup lt CTRL N gt DEK ITOT ispseceri isesi iseti srssisis lt CTRL O gt Poll Target n os lt CTRL P gt previous error ssseeceeceeceeeeeeeeeee lt CTRL U gt Update Watch window lt CTRL V gt pasting text oseese lt CTRL W gt Add Del Items 0 0 00 eee lt CTRL X gt CUNE TEX0 eeror iniyot iss lt CTRL Y gt Reset Target Compile BIOS lt CTR
312. n on hardware breakpoints refer to Section 14 and Section 16 5 in this manual and or the microprocessor user s manual specific to your Rabbit e g Rabbit 4000 Microprocessor User s Manual Using Assembly Language rabbit com 169 13 1 4 Assembly and 32 bit Pointer Registers PW PX PY PZ Assembly programmers should note that far variables defined in C are interpreted as physical addresses by the assembler and near variables are interpreted as segmented logical addresses Specifically the instruction ld pd klmn where pd is a 32 bit pointer register and klmn is a 32 bit constant does not work as would first be expected if used with a variable For example the following code snippet illustrates the problem Example prints Y not X as may be expected char far ptr char far foo int main foo Y ptr amp foo asm The following code is INCORRECT ld px ptr ptrisin root so px gets segmented version of ptr s address Ld ap TRI ld px a This does NOT store register a s contents to the address amp ptr i e foo endasm printf sc n foo The incorrect code shown above illustrates how a programmer might write inline assembly to access a variable via a pointer However since the assembler treats near addresses as logical addresses the format of the value produced by loading the variable ptr directly into a pointer register is not correct
313. n should be unchecked When you are compiling a program to the attached target controller the BIOS is always included Graphical User Interface rabbit com 281 16 7 2 3 Debugger Tab Click on the Debugger tab to display the following dialog This is where you enable disable debugging tools Disabling parts of the debug kernel saves room to fit tight code space requirements Project Options l x Communications Compiler Debugger Defines Targetless Include Path Debugger Options IV Enable debug kernel V Enable instruction level single stepping IV Enable breakpoints Max breakpoints 32 JV Enable watch expressions Max expressions fe Struct watch memory 512 E JV Enable stack tracing Stack trace bytes 4096 E Enable debug kernel Leaving this option unchecked allows you to compile your application without the debug ker nel You must check this option to set any of the other debug options 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 kernel will step by C statement 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 t
314. n that is enabled by default e An 8 byte message This is a global option that is disabled by default The default error handler does nothing with this e A user definable length of stack dump This is a global option that is enabled by default e 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 settings of the global options for stack dump register dump and error message The default size of the buffer is about 4K in extended RAM 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 examined 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 e The number of errors since deployment e The index of the last error e The number of hardware resets since deployment e The number of watchdog time outs since deployment
315. n 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 SPset Handler and some of the auxiliary functions that supports the byte stream handler This is also shown in the sample program Functions These are the auxiliary functions that support the stream handler function SPShandler cbhuf_init SPSwrite cof_SPSread SPSwrF ree cof_SPSwrite SPSrdFree SPSinit SPSwrUsed SPSread cbuf_ init void cbuf_init char circularBuffer int dataSize DESCRIPTION This function initializes a circular buffer 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 The Slave Port Driver rabbit com 115 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 be tween bytes after the first byte is read It will yield to other tasks while waiting for data This func tion 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 mill
316. n 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 pro grams to use for timing purposes 7 3 1 Exampl The following sample shows the use of MS_ TIMER to measure the execution time in microseconds of a e Timing Loop Dynamic C integer add The work is done in a nodebug function so that debugging does not affect timing define N HIME 32 WP intera 10000 main timeit nodebug timeit unsigned long int TO il ene IA Idle TO MS_TIMER Oi p Np aise T1 gives empty loop time T1 MS_TIMER TO TO MS_TIMER Eor O p i lt NA alsesh sare T2 gives test code execution time T2 MS_TIMER TO subtract empty loop time and convert to time for single pass T2 T2 T1 E Loar Ne multiply by 1000 to convert milliseconds to microseconds printf time to execute test code St us n T2 1000 0 The Virtual Driver rabbit com 93
317. n 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 Soft ools WinIDE program for Rabbit processors available from Softools Inc 1 1 2 The MicroC OS I uC OS ID library and sample code and the Point to Point Protocol PPP library 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 manufac tured by for or under license from Rabbit or ii based on the Rabbit 2000 microprocessor the Rabbit 3000 microprocessor the Rabbit 4000 microprocessor or any other Rabbit microproces sor Qualified Systems may not be a designed or intended to be re programmable by your cus tomer using the Software or b competitive with Rabbit products except as otherwise stated in a written agreement between Rabbit and the system manufacturer Such written agreement may require an end user to pay run time royalties to Rabbit 2 License Rabbit grants to You a nonexclusive nontransferable lice
318. nal operators weer 237 program equality Operators eee 233 IT EIEEE E TEE E E ees 252 equal sescrsseversresscrsrerecereren 233 Project Explorer c c cccsccccccsssseseseseeeeeees 290 Rot equal 15 ssssssssssssssessssssess 233 Project files eeeeeesesesseseseeseeeeeeeee 243 22 318 a assembly yer cys nang cae 171 PFOMOTION 5 0 secresceesseensscnsseasnseeeebneees 226 logical operators EAEE P EE ET 234 protected logical AND amp amp nsssssssrsrsrnsnns 234 KEV WOT vcvassscissenssscdsesentnccesccsnbeeenseseess 205 logical NOT sssss 234 Path A 9 205 logical OR I neseser 234 prototypes op E1 ator pr ecedence Ao 239 checking renren iia 277 postfix EXpressiOnS ssssssssesstsressesrserseet 234 FUNCTION oo eeeeeccccsteceececsecesseceeceeseeeeeeenss 28 Op arentheses S Antnnenpcneatese 234 in module header cccsceeeeseeeeees 28 array indices 0 eee 234 Ot serccteversshek E rie 235 Q parentheses eeeeeseeseeeereee 234 right arrow gt veces 235 quitting Dynamic C assesseer 244 PLECEUENCE iici ies cohcciees scueesevessenssate 225 R reference dereference operators 236 address 8 eeeeesseeesseeecseeseneesees 236 Rabbit 4000 configuration 00 330 bitwise AND amp eeeeeeeeeeees 236 Rabbit restart indirection eesseeeeeeeeeees 236 protected variables ceeesseeeeeeeee 205 multiplication occ 236 RAM compile cceececeseseeesereret
319. 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 5 5 2 Calling Restrictions You cannot assign a cofunction to a function pointer then call it via the pointer Cofunctions are called using await fordone statement Cofunctions and the wait fordone statement may return an argument value as in the following example LNE W J waitfordone x Cofuncl k vait ordone iy Corunca A COren The keyword wait fordone can be abbreviated to the keyword wfd must be inside a costatement or cofunction Since a cofunction must be called from inside a wfd 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 execution pro ceeds to the statement following wfd Otherwise a jump is made to the ending brace of the costatement or
320. name of a 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 This means the costatement will execute every time it is encoun tered in the execution thread unless it is made inactive by CoPause It may be made active again by CoResume Multitasking with Dynamic C rabbit com 36 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 costate ment 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 a costatement name 5 3 3 Control Statements This section describes the control statements identified by the keywords waitfor yield and abort waitfor expression The keyword wait for indicates a special wait for statement and not a function call Each time wait for is executed expression is evaluated If t
321. ndividually Graphical User Interface rabbit com 259 Disable Dragging Checking this option 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 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 five different default key mappings Default Classic Brief Epsilon and Visual Studio Change the keymapping with this pulldown menu Graphical User Interface rabbit com 260 16 7 1 2 Gutter amp Margin Tab Click on the Gutter amp Margin tab to display the following dialog Environment Options x aagessvenessnsnvsnsessseesenssnsnezeneey Editor gutter Editor margin I Visible width 32 3 A gt visible width M vv Color BtnFace z
322. ndows list Colors and fonts are chosen here as well as other options Stdio Window The previous screen shows the options available for the Stdio window They are described here You may modify or check as many as you would like Graphical User Interface rabbit com 266 Automatic open Check this to open the Stdio window the first time printf is encountered 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 win dow 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 win dow Automatic Delete in Edit Mode Uncheck this to leave the Stdio window open when returning to edit mode This feature was introduced in Dynamic C 10 21 It is checked by default to behave the same as prior versions of Dynamic C 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 Ta
323. ne OS _TASK_STAT_EN 1 define OS_Q EN 0 define OS_MEM EN 1 define OS _MBOX_EN 0 define OS_TICKS_PER_SEC 64 If a custom stack configuration is needed also define the necessary macros for the counts of the different stack sizes needed by the application idle task stack initial program stat task stack task stacks number of 2K stacks define STACK_CNT_256 define STACK_CNT_512 define STACK_CNT_1K 1 define STACK_CNT_2K 1 DO O MoH In the application code follow the uC OS II and stack configuration constants with a use ucos2 1ib statement This ensures that the definitions supplied outside of the library are used rather than the defaults in the library This configuration uses 20 tasks two semaphores up to 15 memory partitions that the memory manager will control and makes use of the statistics task Note that the configuration constants for task creation task deletion and semaphores are not defined as the library defaults will suffice Also note that ten of the application tasks will each have a 1024 byte stack ten will each have a 2048 byte stack and an extra stack is declared for the statistics task 5 10 4 3 Examples The following sample programs demonstrate the use of the default configuration supplied in UCOS2 LIB and a custom configuration which overrides the defaults Example 1 In this application ten tasks are created and one semaphore is created Each task p
324. nfiguration libraries The BIOS file and configuration libraries are located in LIB BIOSLIB Table 19 1 lists the new files and gives a brief description of their content Table 19 1 BIOS File and Configuration Libraries File Name Description SROS E Most of the code from RabbitBIOS c was moved here CLONECONFIG LIB Macros for configuring cloning DKCONFIG LIB Macros for configuring the debug kernel Macros for configuring non RabbitSys error ERRLOGCONFIG LIB logging RabbitSys has its own error logging method MEMCONFIG LIB Macros for configuring memory organization Macros for other system level configuration SYSCONFIG LIB options such as the clock doubler and the specturm spreader Macros for configuring split memory for the old TWOPROGRAMCONFIG LIB style DLM DLP FATCONFIG LIB Macros for configuring the FAT file system To create a user defined BIOS begin with a copy of STDBIOS C to modify It is prudent to save STDBIOS C as is and rename the modified file The Dynamic C GUI offers an option for hooking a user defined BIOS into the system See the description of the Advanced Button for details on using this GUI option You will need to consider the configura tion files and associated macros described in Table 19 1 Dynamic C User s Manual rabbit com 319 19 2 Efficiency There are a number of methods that can be used t
325. nfo Reads error log header and formats output errlogGetNthEntry Loads errLogEntry structure with the Nth entry from the error log buffer errLogEnt ry is a pre allocated 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 inerrLogEntry errlogFormatRegDump Returns a NULL terminated string containing the register dump in errLogEntry errlogFormatStackDump Returns a NULL terminated string containing the stack dump inerrLogEntry errlogReadHeader Reads error log header into the structure errlogInfo 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 Run Time Errors rabbit com 128 RABE ete 10 MEMORY MANAGEMENT Processor instructions can specify 16 bit addresses giving a logical address space of 64K 65 536 bytes Dynamic C supports a physical address space of 1 MB on all Rabbit based boards Dynamic C 10 21 intro duces support for a physical address space of 16 MB of combined code and data on Rabbit 4000 or 5000 based boards with up to 1 MB for code Dynamic C has been ver
326. ng the DMA registers 11 2 API Functions Dynamic C provides several API functions for use with the DMA controller that was introduced with the Rabbit 4000 These functions make it unnecessary for an application to directly manipulate the DMA reg isters Complete descriptions for all DMA API functions can be found from within Dynamic C using the Function Lookup feature from the help menu Ctrl H also in the Dynamic C Function Reference Man ual In this section we will look at some of these functions The function DMAalloc is called to allocate a DMA channel the function DMAunalloc is called to release it The handle returned by DMAalloc is passed to all the DMA transfer functions see Section 11 4 and must be passed to DMAunalloc to release the channel All eight channels are iden tical with the priority between them either fixed or rotating Dynamic C User s Manual rabbit com 132 The function DMAset Parameters accepts parameters that set transfer and interrupt priority levels channel priority maximum bytes per burst and minimum clocks between bursts DMAsetParameters must be called by an application before a DMA channel can be used however the channel can be allocated before DMAset Parameters is called The DMA parameters set in DMAsetParameters are global that is they apply to all channels Some low level functions are also provided for the DMA controller These functions use the DMA channel
327. nitial buffer descriptor before last data Internal Destination Last byte written to offset address for frame termination e DMA _F_SRC_DEC only for transfers with memory source Indicates the source address should be decremented e DMA F DEST_DEC only for transfers with memory destination Indicates the destination address should be incremented e DMA F_STOP_MATCH indicates whether or not to stop the DMA transfer when a character is reached The match byte and mask should have been set previously by calling the DMAmatchSetup function e DMA F_TIMER indicates the DMA timer will be used Set the divisor first by calling the DMAtimerSetup function DMA_F_TIMER_1BPR indicates that the timed transfers will send one byte per request instead of the entire descriptor 11 5 DMA with Ethernet Use of the Rabbit 4000 Ethernet imposes some restrictions on the global DMA settings It is recommended that applications make use of the DMA API functions to avoid possibly breaking Ethernet by using DMA settings that are not compatible with the Ethernet restrictions For example Ethernet uses DMA channels 6 and 7 and fixed prioritization among the channels There are also requirements regarding burst size and the minimum time between bursts If you are using Ethernet and call the function DMAset Parameters with parameters that are not compatible with the Ethernet restrictions those parameters will be quietly ignored Direct
328. nodebug seese 203 217 320 nointerleave sonssoossennosesnrennnseereeee 220 HMOUSCIX snoeren enea iiri 223 FHPTAGING sesei esscr 221 precompile 0 00 eee eeseeeeeeeteeeeeeceeeeees 222 FUNC oe cecccecceceesseeceeeecsessceeeeeseees 222 HUSG cic iescdcatssadawcccavesgecaceaerevens 26 28 222 FUSEIK ececscssssssecnccsvesvonnccesescsonccssedvensee 223 AWAITS ainne e 223 FEWALDL ooo cecceesseecceceessaeceeeecesssceeeeceenees 223 FXAMPOM orrs o ccdsscvedecesecueus 224 HZIMPOT sarsies a 224 line continuation ccceeeseeeeeseeeees 216 COMPTESSION ssessosissesesseiisuiasiieereiseseissrs gt 332 CONSE morne REN 171 194 216 CONNUE oo ceceeeeeeceeeseeeeeeceseaeeees 195 210 COPYING TERT wisescses cess sslecees bees ceeeveecerceus 245 COTS I II E A E AE AE A E 195 costatements oo eeeeececcecececesceeeeseseeees 35 42 ADOML siscteesnesveidsvivessoncbideeeuetasiveeaeeresiveese 189 firsttime 0 ececeesseeceeesenecesceessaeeeees 200 KEY WO c ssscsassscensesssbeseeiessderessienstanesy 195 SUSPOM iriennerien irer 212 SYNTAR esye rE E e E 36 yield irirna ESEN 215 cursor execution cceeceeeseeeeeeeeees 250 251 252 POSITIONING eee eeeeeeteceeeeeees 241 247 CULE E TOXE sisi cies eeeeistbeutssciesc cetera 245 D data structure Index rabbit com 342 offset of element 0 eee 174 GANE eE 197 returned by function oe 183 EPROM serioan nonna 10 DATAORG ou ee eeecseeseeeeeseeeeeeees 322 324 QU
329. not overwrite itself When separate I amp D space is on ROOT_SIZE_4K determines the boundary between root vari able data and root constant data In this case decreasing ROOT_SIZE_4K increases root vari able space and descreases root constant space When separate I amp D space is off ROOT_SIZE_4K determines the boundary between root vari able data and the combination of root code and root constant data Note that root constants are in the base segment with root code In this case decreasing ROOT_S1ZE_4K increases root data space and decreases root code space e Use xmem for large RAM buffers xalloc can be used to allocate chunks of RAM in extended memory xmem but its use is no longer necessary for data objects which exist for the program s lifetime It is however pre served for backwards compatibility Using the far keyword is easier and more efficient than using xalloc Consider the follow ing code far char my_buffer BUFFER_SIZE int main far char p p my_buffer TEE access xmem directly Large buffers used by Dynamic C libraries are already allocated from RAM in xmem i The macro DATAORG was deprecated in favor of ROOT_SIZE_4K starting with Dynamic C 10 21 ROOT_SIZE_4K equals DATAORG 0x1000 Hints and Tips rabbit com 324 APPENDIX A MACROS AND GLOBAL VARIABLES This appendix contains descriptions of macros and global variables a
330. nse to i use and reproduce the Software solely for internal purposes and only for the number of users for which You have pur chased licenses for the Users and not for redistribution or resale ii use and reproduce the Soft ware solely to develop the Qualified Applications and iii use reproduce and distribute the Dynamic C User s Manual rabbit com 338 W n Qualified Applications in object code only to end users solely for use on Qualified Systems pro vided however any agreement entered into between You and such end users with respect to a Qual ified Application is no less protective of Rabbit s 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 COLD LOAD BIN in their unaltered forms 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 lease network loan distribute or otherwise transfer the Software or any copy thereof You shall not make copies of the copyrighted Software and or documentation without the prior written permission of Rabbit provided that You may make one 1 hard copy
331. nter SP 177 183 184 188 223 SNAPSHOTS 4 0 sc ecredsecercserestvenecsonsserecns 295 trace WINdOW ccceceeesseceeeeeees 272 295 unbalanced niire 188 WIDOW scissceeseosnssseesespasepannenseerasncness 295 STACKSEG scuvesessie ies ie 129 state machine example simn nania 34 static variables KeyWord secorinrinoesinierniues 208 TOOt MCMOTY sssrserinare tir resniesiiin 131 stat s regist f seriiricricereesriserrssriesri 295 Stdio window o cceeeeecececesseeceeeeenee 266 290 STDIO_DEBUG_SERIAL 0 267 Step OVER kisses secencecva teas eene resi oes iesi inia 250 stop program execution s es 250 storage class AUTO pi iS E 19 AE AA LO E 19 SINES cera ner iann nE 213 struct keyword oo eee eeeeeeseeeeeeeeees 209 structure offset of element eee eects 174 return SPACE oo eeeeeeeeeeeeeeee 177 183 184 returned by function sesser 183 Support files eee eee eeeeeeteeeseeenees 32 SWITCH oecite sni ei iniae 196 210 CASE ar peamasenacbesteraderd 210 switching to edit mode eee 247 symbol information eee 329 symbolic constant ceeceeceeeeeeeseceeeeees 217 T target information 0 0 0 0 248 285 2 tOXt editing nenien miin nna 245 t xt seareiro 246 TICK_TIMER 0 eee 93 327 tiling WINdOWS oo eee eeeeeeeeeeeeeeees 290 TIMING LOOP enenu 93 toggle breakpoint oe eee 250 251 Index rabbit com 348 tOO Dar ncnion errn 288 TEPISTEL Scie hie 290 295
332. nterrupt vec tor An interrupt handler must determine what actually caused the interrupt 4 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 6 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 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 calling ipres The interrupt priority 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 8 Return There are two types of interrupt returns ret and reti 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 13 6 2 Modifying Interrupt Vectors This section will discuss how to modify the interrupt vectors after they
333. o Other Debugging Information There are many good references available Here are a few of them e Debugging Embedded Microprocessor Systems Stuart Ball e 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 www embeddedstar com technicalpapers content d embedded1494 html They Write the Right Stuff by Charles Fishman http www fastcompany com online 06 writestuff html Dynamic C User s Manual rabbit com 91 RABBI TE 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 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 program with out 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
334. o force it to execute every time it is encountered in the execution thread unless it is made inactive by a call to CoPause It is easy to suspend execution within a costate by using the wait for keyword The costate will relin quish control if the argument to wait for in this case a call to De laySec evaluates to FALSE The next time the execution thread reaches put data wait for will be called again This will go on until DelaySec returns TRUE i e when one second has elapsed from the time De laySec was first called from within wait for After the one second delay the string to write to the file is placed in a buffer and a looping variable and position pointer are initialized SOriimet Gout SO2dsS02dsS02cd 36 3 im la im S 25 0 wamel gt ocount 0 optr obuf Before the buffer contents can be written to a file in the FAT file system we must ensure that no collisions occur since there is another cost ate that will attempt to read the file every ten seconds A file can not be read from and written to at the same time In the following code the wait for keyword is used with the global variable filestate defined at the top of the application to implement a locking mechanism As soon as the file becomes available for put data it is marked unavailable for showdata FAT File System rabbit com 146 waitfor Filestate 0 Wait until file is available filestate 1
335. o 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 five seconds at a baud rate of 115 200 bps Dynamic C User s Manual rabbit com 9 2 2 New Features from ANSI C New features from ANSI ISO C90 are gradually being added to Dynamic C The following features were introduced in Dynamic C 10 60 e Variable initializer support Variables can now be initialized within a declaration e Preprocessor support for the defined keyword The defined keyword can now be used in if elif expressions to determine whether a macro has been previously defined e include support The standard C mechanism of using include to include other source files is now supported The following feature was introduced with Dynamic C 10 62 e Function pointer parameter list checking Function pointers may now contain a parameter list and the compiler will check the parameters and perform automatic type promotion when a function is called through the function pointer 2 3 Dynamic C Enhancements and Differences Dynamic C offers a number of extensions to the standard C language These extensions are targeted for making your embedded development easier 2 3 1 Dynamic C Enhancements Many enhancements have been added to Dynamic C Some of these are listed below e Dynamic C 10 54 introduces remote firmware updates for some board types Please see AN421 Remote Progra
336. o 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 directions The Home key may be used alone or with other keys Home Move to beginning of line Ctrlt Home Move to beginning of file Shift Home Select to beginning of line Shift CtrltHome Select to beginning of file 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 file Dynamic C User s Manual rabbit com 240 The Ctrl key works in conjunction with the arrow keys 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 Ctrl key also works in conjunction with for delimiter matching Place the cursor before the delim iter you are attempting to match and press Ctrl The cursor will move to just before the matching delimiter Note that delimiters in comments are also matched For example in the following code lt Ctrl gt counts comment
337. o 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 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 disabled or if the debug mode is off 19 2 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 consume 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 overhe
338. oard 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 power failure know how long your battery will last and plan accordingly 19 3 1 User Block The User block is an area near the top of flash reserved for run time storage of persistent data and calibra tion 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 Hints and Tips rabbit com 321 19 3 2 WriteFlash2 See the Dynamic C Function Reference Manual for a complete description of WriteFlash2 There is a function available for writing to the first flash WriteFlash but its use is highly discour aged for reasons of forward source and binary compatibility should flash sector configuration change dras tically in a product For more information on flash compatibility issues see technical notes TN216 Is your Application Ready for Large Sector
339. of such docu mentation for each User and a reasonable number of back up copies for Your own archival pur poses 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 Rabbit and or its licen sors and You must reproduce on each copy of the Software all copyright notices and any other pro prietary legends that appear on or in the original copy of the Software Except for the limited license granted above Rabbit 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 Export Law Assurances You agree and certify that neither the Software nor any other technical data received from Rabbit 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 obtained the Software The Software may not be exported to any of the following coun tries Cuba Iran Iraq Libya North Korea Sudan or Syria Government End Users If You are acquiring the Software on behalf of any unit or agency of the United States
340. 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 setting shown here may be overridden by choosing a different option in the Compile menu The setup for targetless compile may differ for some board series Please check your user manual for differences in setup Compile to attached target a program is compiled and loaded to the attached target 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 Tar getless tab allows you to choose an already defined board type or you may define one of your own Compile to bin file using attached target a program is compiled and the image written to a bin file using the parameters of the attached controller Attached Target Memory Type One of the following options must be selected Detect Settings Checking this option directs Dynamic C to query the attached board as to its program flash type Flash Type Uncheck Detect Settings to activate the Flash Type option The choices are parallel and serial flash Memory Width Selecting Parallel for the flash type activates the Memory Width option offering a choice of 8 or 16 bit parallel flash In line I O If checked the built in I O functions Wr
341. ofuncs can be moved up into the body of the calling function replac ing the top level costate with the wfd cofunc A compiler error will be generated if a costate is found within a cofunction 5 5 2 3 Using the IX Register 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 con tains 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 42 can also be used inside cofunc tions 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 Multitasking with Dynamic C rabbit com 44 5 5 5 Types of Cofunct
342. ompiler 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 NOTE The compiler directive class static is deprecated starting with Dynamic C 10 44 Language rabbit com 29 4 9 1 3 Module 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 ll 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 application 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 generate 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 9 2 Module Sample Code There are many examples of modules in the Lib directory of Dynamic C The following code will illus trate proper module syntax and show the scope of
343. on the ellipses radio button to browse for a file c1RFU myProgram bin pb mySecondaryLoader c 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 c1RFU 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 Security Software amp Utility Programs rabbit com 336 vp Description Default RFU GUI Equivalent Example usb Description Default RFU GUI Equivalent Example usb Description Default RFU GUI Equivalent Example 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 c1IRFU myProgram bin vp 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 to Serial Converter op
344. on is defined as xmem int func the function prototype should be xmem int func Any of the following will put the function in xmem xmem int xmem int func func or xmem int func E int func or P a 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 does not have enough root code space Another strategy is to use separate I amp D space Note that using both memmap xmem and separate I amp D space might cause an appli cation to run out of xmem depending on the size of the application and the size of the flash If this occurs the programmer should consider using only one of the memmap xmem or separate I amp D space options If the application is extremely tight for xmem code memory but has root code memory to spare the program mer may also consider explicitly tagging some xmem or anymem functions with the root keyword void This keyword conforms to ANSI C Thus it can be used in three different ways 1 Parameter List used to identify an empty parameter list a k a argument list An empty parameter list can also be identified by having nothing in it The following two statements are functionally identical functionName void E
345. on options for the Stack Trace window Graphical User Interface rabbit com 272 16 7 1 7 Print Alerts Tab Click on the Print Alerts tab to display the following dialog You may access both the Page Setup dia log and Print Preview from here Environment Options x Print Options JV Use Header IV Use Left Margin fi v Ueroa M UseRightMain 1 IV Number Pages Fico JV Use Top Margin fi M Wrap Lines JV Use Bottom Margin fi Print Font Courier New T Setup Preview M lerts J Flash icon in taskbar after compile and download when Dynamic C is in background Beep after compile and download when Dynamic C is in background JV Detect changes made to open file outside of IDE and prompt for reload JV Confirm compilation of library files Loc ca tem 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 settings 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 four checkboxes in the Alerts area of this dialog The first two signal a successful compile and download one with a visual signal the other auditory The third checkbox d
346. ontains the response code and the high byte contains the returned data if there is any LIBRARY This is a developer supplied function SPtick void SPtick void DESCRIPTION This function must be called periodically when the slave port is used in polling mode LIBRARY SLAVE_PORT LIB The Slave Port Driver rabbit com 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 The Slave Port Driver rabbit com 102 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 cur rent value of status_char in the data return register 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 1lib 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
347. or tant 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 command will find the next occurrence of the same text searching forward or in reverse case sensitive 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 forward in the file Reverse Find Next will search backwards and vice versa Graphical User Interface rabbit com 246 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 including sub directories specified Standard Unix style regular expressions are used CM x Find in Files Text to Find MY_MACR ol z Search in open files Case sensitive Searchin directories Whole words only M Directory Searching Options File Mask C Dynamic Cyc lib 2 IV Include subdirectories coc ste A window with the search results is displayed with an entry for each match found Double clicking on an entry will open the corresponding file and place the cursor on the search string in that file
348. ork with the SF1000 Serial Flash Expansion Board define SF_SPI_DIVISOR 5 define SF_SPI_INVERT_RX 12 5 7 Hot Swapping an xD Card Hot swapping is currently supported on the RCM3365 and the RCM3375 FAT version 2 10 or later is required Two sample programs are provided in Samples FileSystem to demonstrate this feature FAT_HOT_SWAP C and FAT_HOT_SWAP_3365_75 C The samples are mostly identical they both test for a keyboard hit to determine if the user wants to hot swap the xD card but in addition the sample program FAT_HOT_SWAP_3365_75 C also checks for a switch press and indicates a ready to mount condition with an LED After unmounting the xD card call _fat_config_init This disconnects drive and device struc tures from internal tables to work around a potential problem swapping from smaller to larger removable devices FAT File System rabbit com 165 As demonstrated in the sample programs an xD card should only be removed after it has unmounted with fat_UnmountDevice and no operations are happening on the device Only fat_AutoMount should be used to remount xD cards In addition the function nf_XD_Detect should be called to verify xD card presence before attempting to remount an xD card xD cards formatted with versions of the FAT prior to 2 10 did not have unique volume labels If there is a chance that two such cards may be swapped call fat_autoMount with the FDDF_NO_RECOVERY flag set
349. ortcut for toggling the option Cursor through tabs 16 7 1 1 Editor Tab Click on the Editor tab to display the following dialog Installation defaults are shown Environment Options x i Le Gutter amp Margin Display Syntax Colors Code Templates Debug Windows Print Alerts i Backup Auto Save options j JV Back up files before compile 5 J Save all before compile 6 JV Prompt before reload 7 Editor options JV Auto indent mode IV Cursor beyond EOL JV Allow syntax highlight 4 Use previous indention IV Selection beyond EOL T Block overwrite cursor Cursor through tabs Q Keep trailing blanks Undo after save Z IV Backspace unindents Persistent blocks IV Group undo Show line numbers V Overwrite blocks I Disable dragging J Show line numbers on gutter I Double click line J Center Bookmarks 3 Notepad style cursor 1 JV Find text at cursor 2 Cursor beyond EOF Select found text Block indent Tab stops Kepmapping Syntax extensions 3 3 6 Default v cjlib h hh define N 1000 const float SORT PI 1 77245385 the square root of char const label The square root of pi is aint int i for i 0 i lt N i printf s fin label SQRT_PI off Cancel Help Graphical User Interface rabbit com 257 Backup Auto Save Options These three features were added in Dynamic C 10 21 automatically backup a file before com pilation
350. ory 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 18 1 2 Default dcp This default project file is originally a copy of factory dcp and will be automatically recreated 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 indicated project will be used Please see Chapter 17 for more details on using the command line compiler 18 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 recompiled 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 be found If a project is closed with the File Projects C
351. ot Code Space 322 a 236 19 4 2 Increasing Root Data Space 324 ee 236 Appendix A Macros and Global Variables 325 ene 236 Macros Defined by the Compiler 325 ee 237 Macros Defined in the BIOS or Configuration ee 237 TDP aries xcs sectsseseestedhssacesvercivencoretenneesaes O20 aoe 238 Global Variables cceeeeeeeeeeeeseeeerreese 327 MORE 238 Exception Types 328 Pee 238 Rabbit Registers ee eeeeeeeeeeeeeese 328 ae 239 Shadow Registers eee 328 rabbit com 6 Appendix B Map File Generation 329 GLAMIMAL 0 cece ecceececeeeecesessenseseseeeeeseeeeeeees 329 Appendix C Security Software amp Utility Programs 330 Dynamic C Utilities eee 330 Rabbit I O LIB Utility ee 330 Library File Encryption 331 File Compression Utility 332 Font and Bitmap Converter Utility 334 Rabbit Field Utility Module 334 Software License Agreement eeen 338 TIS X EEE E 341 Table of Contents rabbit com RABBIT eee 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 Dynamic C requires an IBM compatible PC running Windows 2000 or later with
352. otype Rabbit recommends prototype checking because it identifies likely run time problems To use this feature fully all functions should have prototypes including functions imple mented in assembly Demotion Detects demotion A demotion automatically converts the value of a larger or more com plex type to the value of a smaller or less complex type The increasing order of complex ity of scalar types is char unsigned int int unsigned long long float A demotion deserves a warning because information may be lost in the conversion For example when a long variable whose value is 0x10000 is converted to an int value the resulting value is 0 The high order 16 bits are lost An explicit type casting can elimi nate demotion warnings All demotion warnings are considered non serious as far as warning reports are concerned Pointer Generates warnings if pointers to different types are intermixed without 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 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 selects either the smallest or the fastest sequence depending on the programmer s choice for optimizat
353. ount 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 e 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 register in embedded assembly code or it is an ISR The only performance difference in running code in xmem is in getting there and returning It takes a total of 12 additional machine cycles because of the differences between call 1lcall and ret lret e Increase ROOT SIZE _4Ki The macro ROOT_SIZE_4K determines the beginning logical address for the data segment i The macro DATAORG was deprecated in favor of ROOT_SIZE_4K starting with Dynamic C 10 21 ROOT_SIZE_4K equals DATAORG 0x1000 Hints and Tips rabbit com 322 Root code space can be increased by increasing ROOT_SIZE_4Kk in StdBIOS c The default is 0x3 when separate I amp D space is on and 0x6 otherwise It can be as high as OxB When separate I amp D space is on ROOT_S1IZE_4K defines the boundary between root variable data and root constant data In this case increasing ROOT_SIZE_4K increases root constant space and decreases root variable space When separate I amp D space is off ROOT_SIZ
354. out and reset Run time error logging is available for Rabbit based target systems with battery 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 Table 9 1 is valid prior to Dynamic C version 9 30 Starting with DC 9 30 the file errmsg ini located in the root directory of Dynamic C can be edited to add descriptions for user defined run time errors that will be displayed by Dynamic C should the error occur For example if the following entry is made in errmsg ini My custom errors 800 My own run time error message Calling exit 800 in an application or library will cause Dynamic C to report My own run time error message in a message box Please see Section 9 2 for information on replacing the default error handler with a custom one Dynamic C User s Manual rabbit com 123 9 1 2 Fatal Error Codes This table lists the fatal errors generated by Dynami
355. pe Checking on page 277 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 exercise the board hard ware 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 Dynamic C User s Manual rabbit com 85 6 3 Where to Look for Debugger Features 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 vari ous menus that deal with debugging Table 6 2 summarizes the menus and debugging tools Table 6 2 Summary of Debug Tools and Menus Name of Feature Where Feature is Configured Where Feature is Enabled Where Feature is Toggled Single Stepping Debugger tab Symbolic Stack Environment Options Project Options Trace Debug Windows tab Debugger tab ee Software Project Options Project Options Breakpoints Debugger tab Debugger tab Run Meat ae In Add Edit Hardware Hardw
356. r each run dccl_cmp myProgram c d MAXCOUNT 99 nw 50 h o myOutput txt dccl_cmp myProgram c qd 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 myOut put t xt were known to not initially exist myProgram c presumably uses a constant MAXCOUNT and contains one or more compiler directives that react to whether or not DEF 1 is defined 17 6 Command Line RFU 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 target The options are as follows cl ColdLoaderPathName Description Select a new initial loader Default bios coldload bin RFU GUI Equivalent From the Setup Boot Strap Loaders dialog box type in a pathname or click on the ellipses radio button to browse for a file Command Line Interface rabbit com 313 Example fi Flash ini PathName Description Default RFU GUI Equivalent Example pb PilotBiosPathName Description Default RFU GUI Equivalent Example S port baudrate V Vp Description Default RFU GUI Equivalent Example Description Default RFU GUI Equivalent Example Description Default RFU GUI Equivalent Example cLRFU myProgram bin cl myInitialLoader bin Select a new file t
357. r specifies the number of characters to write Select this number with care since a value that is too small will result in your data being truncated and a value that is too large will append any data that already exists beyond your new data FAT File System rabbit com 152 Remember that once you are finished with a file you must close it to release its handle You can call the fat_Close function or if you are finished using the file system on a particular partition call fat_UnmountPartition which will close any open files and then unmount the partition If you are finished using the device it is best to call fat_UnmountDevice which will close any open FAT files on the device and unmount all mounted FAT partitions Unmounting the device is the safest method for shutting down after using the device 12 4 2 3 Going to a Specified Position in a File The position pointer is at the start of the file when it is first opened Two API functions fat_Te11 and fat_Seek are available to help you with the position pointer tac tell emy cile amp pos fat_Seek amp my_file pos SEEK_SET The fat_Tel1 function does not change the position pointer but reads its value which is the number of bytes from the beginning of the file into the variable pointed to by amp pos Zero indicates that the posi tion pointer is at the start of the file The first parameter amp my_ file is the file handle already opened b
358. r left column Show OpCodes Check this to show the hexidecimal number corresponding to the opcode of the instruc tion Show Clock Cycles Check this to show the number of clock cycles needed to execute the instruction 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 highlighted 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 execu tion per instruction so looping and branching must be considered separately Use Syntax Highlighting Toggle syntax highlighting Click on the Syntax tab to set the different colors Graphical User Interface rabbit com 268 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 corresponding to the assembly code Register Window For this window you must choose one of the following conditions Show register history or Show registers as editable When the Register Contents window opens it will be in editable mode by default Selecting Show Register
359. r oo eee seeeeeeeeeeeeeeeeees 92 136 7 1 Default Operation eee eeeeees 92 12 2 1 Bringing Up the File System 137 7 2 Calling GLOBAL_INITO eee 92 12 2 2 Using the File System 140 7 3 Global Timer Variables eee 93 12 3 More Sample Programs eee 143 7 3 1 Example Timing Loop 93 12 3 1 Blocking Sample 0 00 143 7 3 2 Example Delay Loop 94 12 3 2 Non Blocking Sample 145 7 4 Watchdog Timers eee essere ener 95 12 4 FAT Operations eee eeeeeeeereeeeee 149 7 4 1 Hardware Watchdog 95 12 4 1 Format and Partition the Device149 7 4 2 Virtual Watchdogs eee 95 12 4 2 File and Directory Operations 151 7 5 Preemptive Multitasking Drivers 95 12 5 More FAT Information 0 0 0 161 12 5 1 Clusters and Sectors 161 8 The Slave Port Driver A EEEE AAS 96 12 5 2 The Master Boot Record 161 8 1 Slave Port Driver Protocol sesoses 96 12 5 3 FAT Partitions 162 ie e oe 12 5 4 Directory and File Names 165 a ee ee 12 5 5 uC OS I and FAT Compatibility 8 1 3 Polling and Interrupts 000 0 98 165 Chui oe 125 6 F1000 and FAT Compatibility 165 8 3 Examples cscccccssssssssssssssssssssssssssssssssssee 103 23 Hots wapping ab xD Cad as T63 8 3 1 Status Handler 103 12 5 8 Hot Swapping an SD Card 166 a ee eee 12 5 9 Unsupported FAT Features 166 8 3 2 Serial Port Handler 103 12
360. r rabbit com 95 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 implements a complete master slave protocol for the Rabbit slave port Sample libraries Master_serial 1lib and Sp_stream 1ib provide serial port and stream based communication handlers using the slave port pro tocol 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 reg ister 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 Dynamic C User s Manual rabbit com 96 8 1 2 Registers on the
361. r to end of line ESC nm Reset attributes n 0 or set attribute n 0 reset Colors 0 black 7 reverse white on black 1 red 8 concealed white on white 2 green 30 Color foreground color 3 yellow 40 Color background color 4 blue 5 magenta 6 cyan 7 white 9 reset Note A semicolon separated attributes list is supported e g ESC nl n2 m ESC s ESC u Save cursor position Restore cursor position For a colorful example of using ANSI escape sequences in Dynamic C s STDIO window please run the Samples enum c standard sample program Dynamic C User s Manual rabbit com 72 6 2 3 Software Breakpoints Software breakpoints are versatile There is the ability to set breakpoints in ISRs the existence of persis tent breakpoints and the ability to set breakpoints in edit mode There is also a Clear All Breakpoints command Dynamic C 10 21 changes the keyboard shortcut for clearing all software breakpoints from Ctrl A to Ctrl B Pros Cons Uses Example Software breakpoints can be set on any C statement unless it is marked nodebug and in any asm debug assembly block This includes code in library files Break points let you run a program at full speed until the specified stopping 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 com
362. r to the start of the statement for j 0 4 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 To remove the breakpoint press lt F2 gt or select Toggle Breakpoint on the Run menu To continue pro gram execution press lt F9 gt You will see the value of i displayed in the Stdio window repeatedly until program execution is halted Quick Tutorial rabbit com 14 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 You can also set breakpoints while in edit 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 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 th
363. r words the far keyword may appear before or after the base type We do not allow far type far var In this context these are base type qualifiers The far keyword can also qualify pointer types such as in the following example type far ptr This declares a variable pt r having far storage pointing to an object of type type Pointer qualifiers are always found on the right hand side of the token Here is a slightly more complex declaration far type far ptr Here the object type to which pt r points is qualified as having far storage Language rabbit com 20 4 3 3 Multi Level Far Pointers The semantics of the far qualifier can become quite complex if used with multi level pointers Some con fusion arises when thinking about how to qualify different pointer levels in a more complex declaration such as the following basic pointer to pointer declaration type ptr This declares pt r as a variable which points to an object of type pointer to type or simply ptr is a pointer to pointer to type What if we wanted to declare pt r to be a pointer to a pointer having far stor age the pointer to type is in xmem but what it points to is in root This would have the following decla ration type far ptr Here we see that pointer declarations are right associative Recalling that the far qualifier associates with the token to its left we see that the nested pointer type is the left not the
364. ram 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 downloaded 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 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 Quick Tutorial rabbit com 17 Setting Breakpoints The F2 key is used to toggle a breakpoint at the cursor position Breakpoints can be toggled while in run mode either while stopped at a breakpoint or when the program is running at full speed Breakpoints can also 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 expres sions in the Watches
365. rate used matches the argument 0 Different baud rate is being used 1 Slave port comm error occurred LIBRARY MASTER_SERIAL LIB The Slave Port Driver rabbit com 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 locked 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 The Slave Port Driver rabbit com 110 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 re
366. rd Shadow to the name of the register For example the global control status register GCSR has a corresponding shadow register named GCSRShadow The purpose of the shadow registers is to allow the program to reference the last value programmed to the actual register This is needed because a number of the registers are write only Macros and Global Variables rabbit com 328 RABBIT eee 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 load ers 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 successful the contents of the map file are not reliable 21 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 lt identifier gt lt address gt lt size gt lt address gt lt logical address gt lt physical addres
367. re 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 Run Time Errors rabbit com 125 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 Error logging is no longer supported as of Dynamic C 10 40 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 e 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 Rabbit sets the real time clock in the factory When the BIOS starts on boards with batteries it initializes SEC_TIMER to the value in the real time clock e The address where the exception was called from This can be traced to a particular function using the MAP file generated when a Dynamic C program is compiled e The exception type Please see Table 9 1 on page 124 for a list of exception types e The value of all registers This includes alternate registers SP and XPC This is a global optio
368. re 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 z 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 agets the product of b and c Divide is a binary operator Integer 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 Operators rabbit com 227 Pre or post increment is a unary operator designed primarily for convenience If the precedes an oper and the operand is incremented before use If the operator follows an operand the operand is incre mented after use int i a 12 i 0 q a fit q gets a 0 then i becomes 1 alit t r gets a 1 then i becomes 2 s i i becomes 3 then s i i i becomes 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
369. re symbolic stack tracing break points 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 sec tion titled Debugger Tab on page 282 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 tool bars and the menu buttons that appear on the control bar See the section titled Toolbars on page 288 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 convenience 6 3 3 Window Menu The Window menu is where you can toggle display of debug windows See Section 16 8 for more informa tion Another selection available from the Window menu is the Information window which contains mem ory information and the status of the last compile See Information on page 295 for full details Dynamic C User s Manual rabbit com 87 6 4 Debug Strategies Since bug free code is a trade off with time and money we know that software has bugs This section dis cusses ways to minimize the occurrence of bugs and gives you some strategies for finding and eliminating them when they do occur 6 4 1 Good Programming Practices There is a big d
370. recompile 1ib for more information and examples undef Syntax undef identifier Removes undefines a defined macro use Syntax use pathname Activates a library named in LIB DIR so modules in the library can be linked with the application pro gram This directive immediately reads in all the headers in the library unless they have already been read Keywords rabbit com 222 useix nouseix Controls 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 function 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 Keywords rabbit com 223 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 dir
371. rectory All paths in the FAT library are specified relative to the root directory The third parameter indicates the initial number of bytes to pre allocate At least one cluster will be allo cated If there is not enough space beyond the first cluster for the requested allocation amount the file will be allocated with whatever space is available on the partition but no error code will be returned If no clus ters can be allocated the ENOSPC error code will return Use NULL to indicate that no bytes need to be allocated for the file at this ttme Remember that pre allocating more than the minimum number of bytes necessary for storage will reduce the available space on the device The final parameter amp my_ file is a file handle that points to an available file structure If NULL is entered the file will be closed after it is created FAT File System rabbit com 155 12 4 2 5 Reading Directories The fat_ReadDir function reads the next directory entry from the specified directory A directory entry can be a file directory or a label A directory is treated just like a file fat_ReadDir amp dir amp dirent mode The first parameter specifies the directory amp dir is an open file handle A directory is opened by a call to fat_OpenDir or by passing FAT_DIR in a call to fat_Open The second parameter amp dirent is a pointer to a directory entry structure to fill in The directory entry structure must be d
372. rence 13 2 1 Comments C style comments are allowed in embedded assembly code The assembler will ignore comments begin ning 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 13 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 define the string ABC db AY BI OC db ABC db 0x41 0x42 0x43 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 myrootconstants x40 x41 x42 Using Assembly Language rabbit com 171 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 Ifthe const keyword is absent i e asm Myro COMasiciiiesrsws db 0x40 0x41 0x42 endasm the bytes are placed somewhere in the instruction space If separate I amp D space is disabled the default con dition
373. ressed in physical address format 20 bit Watch code The begin end and size of the watch code area expressed in logical address format 16 bit The begin end and size of the run time stack expressed in logical address format Stack 16 bit The begin end and size of the root data area expressed in logical address format Root data 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 taken 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 Graphical User Interface rabbit com 296 16 9 Help Menu Click the menu title or press lt Alt H gt to select the HELP menu The choices are g
374. right one illustrated using brackets type far ptr In the above example the association of the and far is evident the variable pt r is a pointer in root and it points to a pointer in far For another example a complex and infrequent declaration might be far type far far ptr A succinct way of stating the type of pt r in this example would be pt r is a pointer in far to a pointer in root to a pointer in far to a variable of type having far storage 4 3 4 Arrays and Structures The far qualifier can also be applied to arrays and structures with the effect of the compiler allocating storage for those variables from xmem The declarations for both structures and arrays and pointers to those types follow the same rules as basic type variable declarations An example structure declaration might be struct S 4 int a char b 20 far struct S str A Structure of type S in xmem Note that the far qualifier is applied only to the actual declaration of a variable with the structure type not the structure definition itself The far qualifier may not be applied to either a structure type definition or any member of a structure If a structure instance variable is placed in xmem using the far keyword then all members of that instance are in xmem you can not mix xmem and root within a single structure Arrays can also be placed in xmem using far The following is a possible declaration of an array in
375. right to left conditional MAEN Ha i right to left assignment comma left to right series Operators rabbit com 239 RABBI TE 16 GRAPHICAL USER INTERFACE Dynamic C can be used to edit source files compile and run programs and choose options for these activi ties 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 toa 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 while using either a RabbitLink board or a RabbitSys enabled board Multiple instances of Dynamic C can run simultaneously This means multiple debugging sessions are pos sible over different serial ports This is useful for debugging boards that are communicating among them selves 16 1 The GUI Environment 16 1 1 Editing 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 t
376. rms before continuing A device is a single physical hardware item such as a hard drive a serial flash or a NAND flash E g one serial flash is a single device The device in turn can host one to four partitions A partition is a range of logical sectors on a device A real world example of a partition is what is com monly known as the C drive on a PC Blocking is a term that describes a function s behavior in regards to completion of the requested task A blocking function will not return until it has completely finished its task In contrast a non blocking func tion will return to its calling function before the task is finished if it is waiting for something A non block i Be advised that FAT 12 support will not be available in future Dynamic C versions It is not recommended that you enable FAT12 support except to retrieve data before re formatting partitions to FAT16 With FAT12 disabled smaller partitions will be formatted as FAT16 With FAT12 enabled small partitions for matted FAT16 are functional ii We use the terms directory and subdirectory somewhat interchangeably The exception is the root directory it is never called a subdirectory Any directory below the root directory may be referred to as a directory or a subdirectory Dynamic C User s Manual rabbit com 135 ing function can return a code that indicates it is not finished and should be called again Used in conjunction with cooperative multitasking non
377. ro when MS_ TIMER is a large number The Virtual Driver rabbit com 94 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 two built in hardware watchdog timers called the watchdog timer WDT and the secondary watchdog timer SWDT The Virtual Driver hits the watchdog timer WDT periodically The following code fragment could be used to disable this WDT asm ld a 0x51 ioi ld WDTTR a ld a 0x54 ioi ld WDTTR a endasm However it is recommended that the watchdog not be disabled The watchdog 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 explic itly set or because the user is single stepping then the debug kernel hits the hardware watchdog periodi cally The secondary watchdog timer defaults to disabled For more information on the hardware watchdogs please see the user s manual for your Rabbit processor 7 4 2 Virtual Watchdogs There are 10 virtual WDTs available they are maintained by the Virtual Driver Virtual watchdogs 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
378. round 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 Foreground Color non syntax If syntax highlighting is not used the color selected here will be the foreground color used in the editor file 16 7 1 4 Syntax Colors Tab Click on the Syntax Colors tab to display the following dialog Environment Options xi Editor Gutter amp Margin Display Syntax Code Templates Debug Windows Print Alerts Foreground color Text attributes Black 4 9 Bold Italic Backaround color a O Window z 5l M UnderLine Use defaults for V Foreground Element Open di Assembler gt IV Background eae define N 1000 const float SORT _PI 1 77245385 f f the square root char const label The square root of pi is aini int i for i 0 i lt N i printf ss f n label SQRT_PI Cancel Hep Graphical User Interface rabbit com 263 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 background In the Text attribues area of the dialog box you may set bold italic and or underline for any of the elements Open Save Buttons These buttons load and save color styles into files w
379. rs are extracted by Dynamic C to provide on line help messages The header is a specially formatted comment such as the following example WrlOport PARAMETERI PARAMETER2 KEY WORDS SEE ALSO START FUNCTION DESCRIPTION KKKKKKKKKKKKKKKKKKKKKK lt O ILIS SYNTAX wOslel WielOjoome int portader inet value DESCRTEMTONE Writes data to the specified I O port portaddr register address of the port value data to be written to the port RETURN VALUE None parallel port RdIOport END DESCRIPTION TA kk A I kA I ek eI I KK If this format is followed user created library functions will show up in the Function Lookup lt Ctrl H gt feature if the library is listed in lib dir or its replacement Note that these sections are scanned in when Dynamic C starts and changed libraries are rescanned with every Ctrl H 4 11 Support Files Dynamic C has several support files that are necessary in building an application These files are listed below Table 4 2 Dynamic C Support Files File Name Purpose of File DCW CFG Contains configuration data for the target controller aa Contains prototypes basic type definitions define and default modes for Dynamic C This file can be modified by the programmer Contains a set of use directives for each control product that Rabbit ships This DEFAULT H oe file can be modified Contains pathnames for a
380. rtcut Ctrl H See Section 4 10 for details on creating function description head ers 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 and there is no need to waste it 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 Foran account of what can happen when time and money constraints all but disappear read They Write the Right Stuff by Charles Fishman Dynamic C User s Manual rabbit com 88 e Coding Standards The use of coding standards increases maintainability portability and re use of code In Dynamic C libraries and sample programs some of the standards are as follows e Macros names are c
381. rtual 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 pro gram 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 276 e List Files When enabled this option generates an assembly list file for each compile The list file con tains the same information and is in the same format as the contents of the Assembly window List files can be very large e Run Time Checking Run time checking of array indices and pointers are enabled by default Run time pointer checking is no longer available as of Dynamic C 10 50 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 argu ments passed in function calls are checked against the function prototype Demotion checking means that the automatic 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 section titled Ty
382. rue non zero execution proceeds to the next state ment otherwise a jump is made to the closing brace of the costatement or cofunction with the statement pointer continuing to point to the wait for statement Any valid C function that returns a value can be used in a wait for statement Figure 5 2 shows the execution thread through a costatement when a wait for evaluates to false The diagram on the left side shows which statements are executed the first time through the costatement The diagram on the right shows that when the execution thread again reaches the costatement the only state ment executed is the wait for As long as the wait for continues to evaluate to false it will be the only statement executed within the costatement Figure 5 2 Execution thread when waitfor evaluates to false se et ame y a b costate statement statement waitfor statement statement yo f a First Time gt waitfor i i costate statement statement statement statement yo f b Subsequent Times Multitasking with Dynamic C 37 Figure 5 3 shows the execution thread through a costatement when a wait for evaluates to true Figure 5 3 Execution thread when waitfor evaluates to true l costate statement statement gt waitfor statement statement yield The yield statement makes an unconditional exit from a costatement or a cofunctio
383. ry 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 operations are performed before other operations when there is a choice For example given the expression a ilo r amp s 107 will the or the be performed first Since has higher precedence than it will be performed first The expression is equivalent to a o e 110p Parentheses can be used to force any order of evaluation The expression amp lo r o 10 uses parentheses to circumvent the normal order of evaluation Associativity governs the execution order of operators of equal precedence Again parentheses can cir cumvent the normal associativity of operators For example a ilo d b c performed first a l djs now c d is performed first ine Sat F function returning a pointer to an integer ame Cae pointer to a function returning an integer Unary operators and assignment operators associate from right to left Most other operators associate from left to right Dynamic C User s Manual rabbit com 225 Certain operators namely amp gt and dot can be used on the left side of an assign ment
384. ry operator it indicates indirection When used in a declaration indicates that the following item is a pointer When used as an indirection operator in an expression pro vides the value at the address specified by a pointer Int p p is a pointer to an integer int Jj j 45 p amp j p now points toj k p k gets the value to which p points k 45 p 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 toa ptr toa float z 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 agets the product of b and c Operators rabbit com 236 15 9 Conditional Operators Conditional operators are a three part operation unique to the C language The operation has three oper ands and the two operator symbols and 2 If the first operand evaluates true non zero then the result of the operation is the second operand Other wise the result is the third operand int i i The if else Jj lt k j j i i lt j k j k k k operator is for convenience The above statement is equivalent to the following If the second and third operands ar
385. s a system pathway for transferring data directly to or from memory and peripheral devices without using the CPU DMA memory addresses are always physical addresses and are never translated by the MMU The rest of this section discusses DMA from a software perspective For detailed information about the DMA controller see the Rabbit 4000 Microprocessor User s Manual 11 1 DMA Registers and Global Resources There are some global resources associated with all DMA channels These resources are managed by Dynamic C libraries because it would be difficult for most users to determine their optimal usage The library DMA LIB contains all of the DMA functionality available to the user The advanced user can man ually override the library settings by directly manipulating the DMA control registers however this is not recommended The debug function DMAprintRegs lets you view the values of the DMA master registers e DMCR DMA Master Control Register Transfer and interrupt priority levels e DMCSR DMA Master Control Status Register DMA channel status e DMTCR DMA Master Timing Control Register Sets the burst size the inter burst timing and the rela tive prioritization of the channels For more information on Rabbit registers click on I O Registers on the Dynamic C help menu or consult the Rabbit 4000 Microprocessor User s Manual or the user s manual specific to your Rabbit to get infor mation about directly manipulati
386. s are supplied for added system and configuration control during task creation task deletion context switches and time ticks For more information on uC OS II please refer to Jean J Labrosse s book MicroC OS I The Real Time Kernel ISBN 0 87930 543 6 The data structures e g Event Control Block referenced in the Dynamic C uC OS II function descriptions are fully explained in Labrosse s book available for purchase at www tabbit com store http www ucos ii com The Dynamic C version of uC OS II has the new features and API changes available in version 2 51 of uC OS II The documentation for these changes will be in the Samples UCos ITI directory The file Newv251 pdf contains all of the features added since version 2 00 and Relv251 pdf contains release notes for version 2 51 Multitasking with Dynamic C rabbit com 53 The remainder of this section discusses the following e Dynamic C enhancements to uC OS II e Tasking aware ISRs e Dynamic C library reentrancy e How to get a uC OS II application running e TCP IP compatibility e API function descriptions e Debugging tips 5 10 1 Changes to pC OS II Minor changes have been made to uC OS II to take full advantage of services provided by Dynamic C 5 10 1 1 Ticks per Second In most implementations of uC OS II OS_TICKS_PER_SEC informs the operating system of the rate at which OSTimeTick is called this macro is used as a constant to match the ra
387. s 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 rabbit com 329 RABBI TE APPENDIX C SECURITY SOFTWARE amp UTILITY PROGRAMS This appendix documents several useful and easy to use utility programs available from Rabbit This appendix documents the security software and utility programs available for Rabbit based systems 22 1 Dynamic C Utilities There are several utilities bundled with Dynamic C V 1 1 Rabbit I O LIB Utility This utility is provided for configuring a Rabbit 4000 or 5000 board All register bit assignments for the Rabbit 4000 and many register bit assignments for the Rabbit 5000 are transformed from cryptic hex num bers into an easy to use GUI You can also open a window that lets you view the corresponding register values as you make changes via the GUI Double click on Utilities IOConfig exe to run the utility When a configuration is saved the utility will generate a library that contains a function that will execute the necessary statements to produce the sel
388. s how to place a pointer in xmem as with const the storage qualifier comes after the indicat ing that the pointer itself is in xmem The pointers in the example are each 4 bytes for the physical addresses they represent effective 24 bit physical address see the Rabbit 4000 Designer s Manual for more information Example 2 xis an integer variable in xmem ptr_to_x is a pointer in root to an integer in xmem pointer to far far_ptr_to_x is a pointer in xmem to an integer in xmem SEALS Fea amit lt Stacie Fair int DCE CO x x srewie aie dime kan kar DeL CO lt x The following are allowed kaw ime OO 4 w Returns pointer to far void FOO far int jx Takes pointer to far as a parameter auto fair dne xp 4 byte pointer to far on stack The following are prohibited faic ingr EGOI m WOLCl HOO ker ime x a GUO tew dme xA You can also declare a pointer variable in xmem to a near logical address as shown in Example 3 The size of this pointer variable is 2 bytes for the 16 bit logical address it represents but the pointer itself is in xmem Example 3 xis a variable in root may be auto or static px a pointer variable in xmem points to an integer variable in root px must be global or static IAE Xy starie ime Tele ox EX The far qualifier can also be used to put structures and arrays directly in xmem In Example 4 we have
389. s to dem onstrate various aspects of Dynamic C For example the sample program Pong c demonstrates output to the Stdio window In the rest of this chapter we examine three sample programs in some detail Dynamic C User s Manual rabbit com 12 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 3 2 minus some comments Use the mouse to place the cursor on the function name print f 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 libraries you write yourself Figure 3 2 Sample Program DEMO1 C C DCRABBIT_10 62 Samples DEMO1 C while 1 i for 3 0 3 lt 20000 35 printft i d n ij gt To run DEMO1 C compile it using the Compile menu and then run it by selecting Run in the 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
390. s to not connect the STATUS pin to the programming port Also disabling the connection check allows non standard PC ports or USB converters that 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 converter drivers This mode makes the com munications more USB RS232 converter friendly by allowing higher download baud rates and introducing short delays at key points in the loading process Checking this box may also help non standard PC ports to work properly with Dynamic C Graphical User Interface rabbit com 275 16 7 2 2 Compiler Tab Click on the Compiler tab to display the following dialog If you are using a version of Dynamic C prior to 10 21 you will not have the section labeled Attached Target Memory Type shown in the following screenshot All other sections apply If you are using a Rabbit 4000 with Dynamic C 10 21 or later all sections shown below apply Project Options 7 xj Communications Compiler Debugger Defines Targetless Include Path Run Time Checking Type Checking Optimize For JV Array Indices JV Prototype Size V Demotion Speed JV Pointer Warning Reports Store Program in Max Shown All Flash Errors 10 C Serious Only C RAM Pien Warnings fio F Separate Instruction amp Data Space M Li
391. s txt Program outputs Note Version information refers to dcwd exe with the same compiler core Disable printing of 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 Command Line Interface rabbit com 302 id ini lf mfr Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent 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 BitWrPortI Generates inline code for WrPortI RdPortI and BitRdPortI ifall arguments are constants No inline code is generated for these functions Check Inline builtin I O functions in the Project Options Compiler dialog box Undo Library Directory file specification No Library Directory file is specified 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 Li
392. s with a cofunction returning to its wfd statement without yielding to another cofunc tion 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 cofunction aborts Multitasking with Dynamic C rabbit com 46 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 every time 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 forc ibly abandoned A call to Lloophead defined in COFUNC LIB is necessary for abandon state ments to execute Example Samples COFUNC COFABAND C illustrates the use of abandon SCOEUNEG SCOETESE aime i abandon printf CofTest was abandoned n while i gt 0O printi CofTest Sel nnt aL s yield main LNE z for x 0 x lt 10 x
393. se sicccsdccsssccssscseocess cessendescseveesscceessese 201 FUSE oeseeeeseeeseeeeerereserensnensssssssesnstenenee 222 eee oy 201 useix init o 202 HNOUSE1X aa EE 223 E ee Oe jaa 223 interrupt ii eresas nEn 202 warnt EE RE we E RSR 223 Icall Be lice nace vectnsnce oft de oleate das oo ts 202 ximport EIEEEI AR AERA Mawes oder wedeaeceneuncee 224 ton g F E here 203 GIDADAN OLO AE EEE 224 raae TE a A E A AT 203 odebere cedens ena 203 Table of Contents rabbit com 5 15 Operators 0 eee eeeseeeeeeeeneeeeeeeeeseneeeeeees 15 1 Arithmetic Operators 0 0 l Deemer e enw een e eee en eee en eee neeeneneeeeneeseseeee 15 6 Logical Operators eee eee 15 9 Conditional Operators Vey eit e E AN EE 15 10 Other Operators eee Table of Contents eee 225 16 Graphical User Interface ote 240 weseaye 226 16 1 The GUI Environment 240 aks 226 16 1 1 Editing seeen 240 ee 226 16 1 2 Menus 00 eee eeeeseeeeeeeeeee 24l Pry 227 16 1 3 Using Keyboard Shortcuts 241 iei 227 16 1 4 Editor Window Popup Menu 242 wuts 228 16 2 File Menu eee eeeeeeseeeetseseeeertereeenee 243 er 228 16 3 Edit M n sessie esorare 240 ee 228 16 4 Compile Menu eee eeeeeeeeeee 248 ee 229 16 5 Run Menu uu eee ee eeeeeeeeeeseeteeses 200 cere 229 16 6 Inspect Menu uu eeeeeeeeeeeeees 208 parses 229 16 7 Options Menu eee eeeeeeeeereeee 207 re 229 16 7 1 Environment Options 257 eeN 229 16 7 2 Project Options
394. sersser 229 PageDown key usesseseesreeeserrrrerereerreeeen 240 OR assign I onsesseeessessssesseseee 230 PageUp key c cccssssssssesssesssssesesesetsteteseees 240 shift left KSS vssssisrnsssrrsersesnn 229 passing arguments 177 183 184 shift right gt gt Peahase sere eeasaaet shee 229 pasting text oe eeccececscececeteteteteseteteeseees 245 subtract assign ss 229 periodic interrupt 42 51 92 327 XOR assign S sssseeeesesessse ees 230 pointer checking o ececcccsceseecesseeeeeeseeeees 19 associativity E Cente ag 225 226 POU aK Set occa scevesseesieser de eseeseveenesebesereess 252 DUM ALY eeeeseseseeese re esetessssssssesessescnee 225 polling oF creeuecranieinted actin ele 250 bitwise operators POSITIONING text ee eee eeeeeeteeeeeeeeeees 247 address a 231 Precompile eee eeeeeeeeeeeneeeeee 29 222 bitwise AND amp oe eae 231 preserving registers eee eee 184 188 bitwise exclusive OR ees 231 Previous error lt CTRL P gt cece 247 bitwise inclusive OR I 231 primary register eee 175 183 184 complement 0 eeeeeeeeeeees 231 print P outers A aa Pua hae 231 choosing a printer oo ee eens 244 Shift left lt lt seesssessssssssssssseee 230 print file socn 244 shift right gt gt sss 230 print preview ooo eeeeeeeceeseceeceeeeeeeeeeeees 244 COMA aiee ees aisle ieee ieee 232 E cscccccccsssssssessssssseeseeessseseeeeenseseee 267 conditio
395. setHandler int SPsetHandler char address int handler void handler_params DESCRIPTION This function sets up a handler function to process incoming commands from the master for a par ticular slave port address PARAMETERS address handler handler_params RETURN VALUE 1 Success the handler was set 0 Failure LIBRARY SLAVE_PORT LIB The 8 bit slave port address of the channel that corresponds to the handler function 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 param eter to NULL unloads the current handler 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 The Slave Port Driver rabbit com 100 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 pur pose 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 c
396. 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 checking on the instance selected so like arrays the programmer is responsible for keeping this value in the proper range NOTE Costatements are not supported inside indexed cofunctions Single user cofunctions cannot 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 Single user cofunctions can be used instead They can be called simultaneously because the second and additional callers are made to wait until the first call completes The following statement which contains two calls to single user cofunction is okay waitfordone scofunc_nameA scofunc_nameA Multitasking with Dynamic C rabbit com 45 loopinit
397. sndeds 28 TOLUINS srera 183 184 SAVING registers oo eee eee eee eeeeees 188 SLACK Space cisecisscde rien 320 unbalanced stack cccccccceeseseeeeeeenes 188 function lookup lt CTRL H gt 297 function prefix ADYMEM orree asak se 190 OD US onmi enpor enr 195 firsttime encorre rencereket er iai sri 200 INtErr Pt ceire a 202 MOGEDUG screeners 203 TOTS a ENA EE E 204 MOUSE AEE AEE E 204 POO TT 206 SIZ e EN E cece detansancetedans 208 ole eo E E S 208 USGIX E E EA EE 211 DAA DTA a O AT E E T 214 FUMCHOMS oe 3cccses cescessesenetvceescoonteeesesseedatte res 99 G Global Initialization ee eeeeeeeeeeeeees 25 global variables 0 0 0 ce eeeeeeeeeeeeeeeeeees 19 DOTO EE 201 247 Pa EAA AEAT 247 H hard breakpoints seseeseeeeeeeeeereererreeen 251 header ADEO CU OM IAE ET 32 mod le sannri 28 29 30 Help Men seinere 297 a I E 175 180 183 184 Home Key sscsccaseivscsssdiec does dees cescesscsouevess 240 horizontal tiling s es 290 hot SWapPiNg 0 eee eects 165 166 l icons arranged socscgiecisanneian ia 290 TEEE floating point 2 0 eee 200 UE ATE eaten ainsi A E E 196 information Window cccceeee 290 295 MITON airesin t EAEN 202 inline COJE oo ee eeeeeeseeeteeceeeeeeceeneeeeees 279 insertion point 00 eee eeeeeeneeeeeeees 245 247 Inspect menu 0 eee eeeeeeeeeeneeeeeeees 253 292 Instruction Set Reference eee 299 TIE A EE E saexcoteeces 202 213 InterrUptS ra
398. snsossssscsssssess 244 hot swapping o n 165 166 support files assecrersorerssecesessensnsssscerseees 32 initialization csccsssssssssesssssssesesseseseee 139 Dynamic C modules sseseevrssereseseerer 330 line feed scessssssssssessssesssssssssesessseeseseeee 141 dynamic memory allocation E 132 ia numberof chawictere tend cs 142 dynamic storage allocation sssessssessees 19 MBR e st e a toe ceate cates 161 E non blocking eee e eee eeeeeeeeeeeeeeees 145 NUM_fat_AeVICES ccceeeeeeseeeeeeeseeeeees 139 Edit Men sinnen 245 opening a file seseeeseeseeeeeeseerereere 141 edit Modessa 247 partitio 5 cachisscsesosnszessesicaegeciepivetastteness 135 COON rieseni idee hniasd sae 9 Partition structure oe 139 ESE esses lacsenadueectescngaccsagices ie ceiverecsnccavesiactes 196 partitioning oo eee 149 151 embedded assembly 9 176 183 path separator wo ee eeeeeeeeeeeeeees 151 End key senaian eena 240 PRCA OG 5 cists cecscsersissssnes iteewsesvceteecsasess 138 EndHeader 0 ccccccesssssececenseeee 28 29 30 Teading a file oo eee eeeeeeeesteeeeeeees 142 Index rabbit com 343 removable device advice 0008 142 reserving file Space sses 138 SDcard esae n 166 SELOOO iecere et 165 shell program sssseeeseeressereresrrersererees 143 state Of file oo cece ccecesssseeeeeeessaees 146 subdirectory oo ee eee eee esee te eseeeeees 135 unsupported features eee 166 write back cache
399. sponse RETURN VALUE 30 Response code 1 Timeout occured before response 2 Nothing at that address response Oxff LIBRARY MASTER_SERIAL LIB The Slave Port Driver rabbit com 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 timeout 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 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 The Slave Port Driver rabbit com 112 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 The
400. ssion is successfully compiled it and its outcome will appear in the Watches window Add Watch Expression amp xj Watch Expression i lt o e If the cursor in the active window is positioned over a variable or function name that name will appear in the Watch Expression text box when the Add Watch Expression dialog box appears Clicking the Add button 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 mes sage will display when Add or OK is pressed stating that the variable is out of scope or not declared Graphical User Interface rabbit com 253 An example of the results displayed in the Watches window appears below Watches Iof x 47 Ox002F 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 undefined Structure members are displayed whenever a watch expression is set on a struct The Debug Windows tab of the Environment Options menu
401. st 0x28 sp 0x02 hl i hl 11 10 gi Selected Clock Cycles Sum 21 Ai The Disassembled Code window displays Dynamic C statements followed by the assembly instruc tions 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 num ber of cycles for the instruction assuming no wait states The total cycle time for a block of instruc tions will be shown at the lowest row in the block in the cycle time column 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 execution times Graphical User Interface rabbit com 293 Use the mouse to select several lines in the Assembly window and the total cycle time for the instruc tions 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 such as 1dir or ret nz Right click anywhere in the Disassembled Code window to display the following popup menu Copy Ctrl C Save to File Ctrl S Move to Address Ctrl M Move to Execution Point Ctrl E Select All Ctrl 4 v Show Source v Show File Name in Source Line v Show Addresses v Show OpCodes v Show Clock Cycles v Sum Clock Cycles v
402. st Files IV Generate assembly list file for each compile m Default Compile Mode Attached Target Memory Type Compile to attached target IV Detect Settings Compile defined target configuration to bin file Compile to bin file using attached target m In line 1 0 J Inline builtin 1 0 functions Memory Width bit Flash Type Parallel Serial f 16 bit Advanced tom eee 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 Array Indices Check array bounds This feature adds code for every array reference Graphical User Interface rabbit com Pointers This was removed as an option in Dynamic C 10 50 In prior versions check for invalid pointer assignments A pointer assignment is invalid if the code attempts to write to a location marked as not writable Locations marked not writable include the entire root code segment This feature adds code for every pointer reference Functions marked as nodebug disable the run time checking options selected in the GUI Type Checking Prototypes Performs strict type checking of arguments of function calls against the function proto type The number of arguments passed must match the number of parameters in the proto type In addition the types of arguments must match those defined in the prot
403. st wait for the return FAT File System rabbit com 145 A while loop accomplishes our goal of blocking on the function call until it returns something other than busy while rce fat_Open first_part name FAT_FILE FAT_MUST_CREATE amp file amp alloc EBUSY The second difference from our earlier sample is the statement right before fat__Open file state 0 This is required before opening a file when using non blocking mode in order to indicate that the file is not in use Only do this once After you have opened the file do not alter the contents of the file structure If fat_Open succeeds we can go into the non blocking section of the program three costatements inside an endless while loop The benefit of using the non blocking mode of the FAT file system is real ized when using costatements an extension of Dynamic C that implements cooperative multitasking Instead of waiting while a function finishes its execution the application can accomplish other tasks 12 3 2 1 Costatement that Writes a File The first costate is named put data It waits for one second and then creates a string to timestamp the entry of a randomly generated number that is then appended to a file while 1 costate putdata always_on waitfor DelaySec 1 Wait for one second to elapse Note that the always_on keyword is used This is required when using a named costatement t
404. t 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 Keywords rabbit com 193 const This keyword declares that a value will be stored in flash thus making it unavailable for modification 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 serious warnings only The use of const is not currently permitted with return types auto variables or parameters in a function prototype Example 1 ptr_to_x is a constant pointer to an integer sine 320 ime CONSER OENE ON EEE Example 2 cptr_to_iis a constant pointer to a constan
405. t and decrement the nesting count However this is very important If the ISR for Interrupt X is called during an ISR that re enables interrupts before completion scheduling should not be performed when Interrupt X completes scheduling should instead be deferred until the least nested ISR completes Figure 5 9 shows an example of this situation Figure 5 9 Type 2 ISR Nested Inside Type 3 ISR Task 2 Interrupt Z Nesting Do critical code Interrupt Z TA ISR ipres Interrupt X P Nesting 2 Interrupt X TA ISR Task 1 is readied Nesting ipres Finish ISR Nesting 0 Task 1 As can be seen here although the ISR for interrupt Z does not signal any tasks by posting to a semaphore mailbox or queue it must increment and decrement the interrupt nesting count since it re enables inter rupts ipres prior to finishing all of its work Multitasking with Dynamic C rabbit com 57 5 10 2 3 General Layout of a TA ISR A TA ISR is just like a standard ISR except that it does some extra checking and house keeping The fol lowing table summarizes when to use a TA ISR Table 5 2 Use of TA ISR yC OS II Application Type 1 Type 2 Type 3 TA ISR Required No Yes Yes a Type 1 Leaves interrupts disabled and does not signal task to ready state b Type 2 Leaves interrupts disabled and signals task to ready state c Type 3 Reenables interrupts before completion
406. t integer const Lint L 3 COME imt GCOMSIE EER IcO_ 1 Gip Example 3 axis a constant 2 dimensional integer array const ime axz 2 2 12 3 1 2 he Example 4 Stiner rec ine a Glaaie le 110 2 l zedis a constant struct consti SE CUcCtITECRZEdi 5 aloe Example 5 cptr is a constant pointer to an integer EYOSCISIE Gime jolie _IeO_slintes const per to int epen ciy this declaration is equivalent to the previous one ine CONSE CILE Gals NOTE The default storage class is auto so the above code would have to be outside of a function or would have to be explicitly set to static Keywords rabbit com 194 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 st ate can be 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 functions 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 The debug keyword in combination with the norst keyword will give you run time checking without debu
407. t 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 Using Assembly Language rabbit com 182 13 4 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 int char ora pointer return the result in HL register H contains the most significant byte If the resultisa 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 primary register with the return value before the ret instruction 13 4 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 containing embedded assembly code may use aC return statement to return a value A stand alone assembly routine how ever must store the return value in the structure return space on the stack be
408. t read them For example the following statement will access SEC_TIMER waitfor DelaySec 3 5 5 Cofunctions Cofunctions like costatements are used to implement cooperative multitasking But unlike costatements 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 not change the default storage class for a cofunction s variables All cofunctions in the program are initialized when the function chain __GLOBAL_INTT is called This call is made by premain Multitasking with Dynamic C rabbit com 42 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 orscofunc is used is followed by the data type returned void int etc name A name can be any valid C
409. t the nointerleave directive can be placed anywhere in source code with the effect of stop ping 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 Keywords rabbit com 220 makechain Syntax makechain chainname Creates a function chain When a program executes the function chain named in this directive all of the functions or segments belonging to the function chain execute 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 keyword 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
410. t vector offset gt are defined as macros in E lt vector offset gt or lib bioslib sysio 1ib listed below for convenience Intern and SetVectExtern In NTVEC_BAS Table 13 3 Internal Interrupts and their Offset from INTVEC_BASE INPUTCAP_OFS SERC_OFS NETA_OF S SERD_OFS PERIODIC_OFS SERE_OFS PWM_OF S SERF_OFS QUAD_OFS SLAVE_OFS RST10_OFS SLV_OF S RST18_OFS SMV_OF S RST20_OFS SYSCALL_OF S RST28_OFS TIMERA_OFS RST38_OFS TIMERB_OFS SECWD_OFSS TIMERC_OFS SERA_OFS WPV_OFS SERB_OFS Table 13 4 External Interrupts and their Offset from XINTVEC_BASE BKPT_OFS DMA5_OFS DMAO_OFS DMA6_OFS DMA1_OFS DMA7_OFS DMA2_OFS EXTO_OFS DMA3_OFS EXT1_OFS DMA4_OFS Using Assembly Language rabbit com 186 The following code fragments set up the interrupt service routine for the timer B interrupt fasm Dynamic Method clr hl ld a iir ld h a ld de TIMERB_OFS Load offset of interrupt add hl de ld de 0xC3 timerb_isr lt lt 8 Jump opcode and LSB of address Ld bc timerb_isr gt gt 8 MSB of address ld hl bcde endasm asm Static Method ld a 0xC3 Jump opcode ld hl timerb_isr Service routine ld INTVEC_BASE PERI IC_OFS a ld INTVEC_BASE PERIODIC_OFS 1
411. tasks at virtually the same time An exam ple 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 multitasking control is forcibly removed from the task via an interrupt Dynamic C has language extensions to support both types of multitasking For cooperative multitasking the language extensions are costatements and cofunctions Preemptive multitasking is accomplished with slicing or by using the uC OS II real time kernel The uC OS II real time kernel is included with Dynamic C starting with Dynamic C version 10 21 The other multitasking software has always shipped with all versions of Dynamic C 3 3 1 1 Advantages of Cooperative Multitasking Unlike preemptive multitasking in cooperative multitasking variables can be shared between different 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 Gl while Cl 4
412. te 5 11 Summary Although multitasking may actually decrease processor throughput slightly it is an important concept 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 system Multitasking with Dynamic C rabbit com 68 RABBI TE 6 DEBUGGING WITH DYNAMIC C This chapter is intended for anyone debugging Dynamic C programs For the person with little to no expe rience we offer general debugging strategies in Section 6 4 Both experienced and inexperienced Dynamic C users can refer to Section 6 2 to see the full set of tools programs and functions available for debugging Dynamic C programs Section 6 3 consolidates the information found in the GUI chapter regarding debug ging features into an quicker to read table of GUI options And lastly Section 6 5 gives some good refer ences 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 6 1 Debugging Features of Dynamic C The following Dynamic C debugging features are summarized here with links given to more detailed descriptions e printf Display messages to the Stdio window defau
413. te of the periodic interrupt In uC OS II for the Rabbit however changing this macro will change the tick rate of the operating system set up during OSInit Usually a real time operating system has a tick rate of 10 Hz to 100 Hz or 10 100 ticks per second Since the periodic interrupt on the Rabbit occurs at a rate of 2 kHz it is recommended that the tick rate be a power of 2 e g 16 32 or 64 Keep in mind that the higher the tick rate the more overhead the system will incur It is possible to set the value of OS_TICKS_PER_SECOND so high that task switching becomes the predominant operation leav ing too little time for the user processes to run properly The only way to determine if your value is too high is to see if your tasks run properly at a lower value In the Rabbit version of uC OS II the number of ticks per second defaults to 64 The actual number of ticks per second may be slightly different than the desired ticks per second if TicksPerSec does not evenly divide 2048 Changing the default tick rate is done by simply defining OS_TICKS_PER_SEC to the desired tick rate before calling OSInit For example to change the tick rate to 32 ticks per second define OS_TICKS_PER_SEC 32 OSInit OSStart 5 10 1 2 Task Creation In a uC OS II application stacks are declared as static arrays and the address of either the top or bottom depending on the CP
414. tent 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 contemporane ous 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 Rab bit No amendment to or modification of this License will be binding unless in writing and signed by a duly authorized representative of Rabbit Digi International Inc 2008 All rights reserved rabbit com 340 RABE Teme Index Symbols address SPACE ecesesseseesseersseerseee 10 129 Advanced button ee eeeceereeereesseeeeeees 280 GLOBAL _INIT wees cesseeesteeee tees eeesneens 207 Pa DEE IE A E E E aeesrenstees 189 Defines Tab on page 273 seses 127 ALT key LENGTH srvicsecesseccsovssncsnspseccnsteonvvenionss 174 See keystrokes OPC ae EE E ERR ER 174 ALWAYS_OM veseesessssesssesssecssseesseesseesssessseessee 190 RETVAL on eessesseeecssteseesesteeeesnns 174 183 AOV ere 190 SP eee 174 177 180 182 183 188 application pro
415. ter codes indicate the bits of the status register 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 269 for more details on this window Stack F12 Select this option to activate or deactivate the Stack window The Stack window displays the top 32 bytes 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 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 windows Stack Trace Ctrl T The Stack Trace window displays the call sequence and the values of function 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 currently has a value of 0 The Depth value along the bottom of the Stack Trace window is the current number of bytes on th
416. 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 Cirl F4 gt Closes the active editor window If there is an attempt 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 unti tled 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 a return 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 18 Project Files for all the details on project files Graphical User Interface rabbit com 243 Print Setup Displays the Page Setup dialog box Margins page orientation page numbers and header and footer properties are all chosen here
417. 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 exam ple 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 Environment 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 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 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 imp
418. the stack Now access to stack variables is easier Consider for example how to load ch into register A lel a izten a lt ch The X 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 X offset instructions are as follows lel al alse les load LSB of lg lel Ipla longs are normally stored in BC DE lel r ib l Ill aise lle 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 variables out of this range The SP symbol may be used even if IX is the frame reference pointer 13 3 6 2 Using Index Registers as Pointers to Aggregate Types The members of Dynamic C aggregate types structures and unions can be accessed from within a block of assembly code using any of the index registers e IX IY SP available on all Rabbit processors e PW PX PY or PZ available on the Rabbit 4000 The assembly notation for accessing a member of a structure or union is index_register aggregate_type_reference member_name where aggregate_type_reference may be any one of a typedef for an instance of or a pointer to an instance of the aggregate type If member_name is an aggregate type e g a nested stru
419. tion c1RFU myProgram bin usbt 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 Servile Converter option c1RFU myProgram bin usb Security Software amp Utility Programs rabbit com 337 RABBIT SOFTWARE END USER LICENSE AGREEMENT IMPORTANT READ CAREFULLY BY INSTALLING COPYING OR OTHERWISE USING THE ENCLOSED RABBIT DYNAMIC C SOFTWARE WHICH INCLUDES COMPUTER SOFTWARE SOFTWARE AND MAY INCLUDE ASSOCIATED MEDIA PRINTED MATERIALS AND ONLINE OR ELECTRONIC DOCUMENTATION 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 IMMEDI ATELY CONTACT RABBIT FOR RETURN OF THE SOFTWARE AND A REFUND OF THE PUR CHASE PRICE FOR THE SOFTWARE We are sorry about the formality of the language below which our lawyers tell us we need to include to protect our legal rights If You have any questions write or call Rabbit 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 capitalized words used i
420. tion 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 4 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 informa tion 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 e uninitialized or incorrectly initialized pointers e buffer overflow e Stack overflow underflow e ISR modifying but not saving infrequently used register e Interrupt latency e 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 accessed 6 4 2 2 Minimize the Failure Scenario After you can reproduce the bug create the shortest program possible that demonstrates the problem Whate
421. tion caused the abort Keywords rabbit com 212 while Identifies the beginning of a while loop A while loop tests at the beginning and may execute zero or more times while expression xdata Declares a block of data in extended flash memory xdata name value_l 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 it t xdata name3 Rules ys 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 Keywords rabbit com 213 xmem Indicates that a function is to be placed in extended memory This keyword is semantically meaningful in function prototypes Good programing style dictates its use be consistent between the prototype and the function definition That is if a functi
422. tion return values or array elements to be 16 bit integers If nothing else is speci fied int implies a 16 bit signed integer imt dz Jy ke 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 Writing ISRs in C is never recommended especially when timing is critical interrupt isr An interrupt service routine returns no value and takes no arguments __leall__ When used in a function definition the __1cal1__ function prefix forces long call and return Icall and lret instructions to be generated for that function even if the function is in root This allows root functions to be safely called from xmem In addition to root functions this prefix also works with function pointers The __1call___ prefix works safely with xmem functions but has no effect on code generation Its use with cofunctions is prohibited and will generate an error if attempted root _ lcall int foo void return 10 Generates an lret instruction even though we are in root main foo This now generates an Icall instruction Keywords rabbit com 202 long Declares variables function return values or array elem
423. tion to a connected 1 brk debugger breakpoint information O e demol hdl no longer used o1 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 generated separately For more information on the map file see Map File Generation on page 329 e 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 Graphical User Interface rabbit com 249 16 5 Run Menu Click the menu title or press lt Alt R gt to select the Run menu Run Inspect Options Window Help gt gt Run F9 E Stop Ctr O amp Run w No Polling Alt F9 Step Into F7 O Step Over F8 Source Trace Into Alt F7 F Source Step Over Alt F8 5 Toggle Breakpoint F2 6 Toggle Hard Breakpoint Alt F2 6 Add Edit Hardware Breakpoints Shift Ctrl F2 Clear All Breakpoints Ctrl B 2 Poll Target Ctrl L Reset Program Ctrl F2 Debug Mode Shitt FS lb Close
424. tional source files are consid ered to be libraries though they may have a c extension and are treated as such The minimum applica tion program is one source file containing only main Libraries those defined by you and those defined by Rabbit 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 Note that as of Dynamic C 10 60 the standard include C construct can be used In particular this allows the organization of code into c code and h header files Figure 4 1 Nesting Files in Dynamic C Application Most libraries needed by Dynamic C programs have use statements in lib default h Section 4 9 explains how Dynamic C knows which functions and global variables in a library are available for use Note that as of Dynamic C 10 60 the standard include C construct can be used In particular this allows the organization of code into c code and h header files Language rabbit com 26 4 7 1 LIB DIR Any library that is to be use d in a Dynamic C program must be listed in the file LIB DIR or another DIR file specified by the user LIB DIR is in the root directory of the Dynamic C installation The lib dir strategy allows naming a folder with optional mask s Having no mask implies and mul t
425. tive 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 project As with Open the BIOS will automatically be recompiled prior to the compilation of a source file within the new environment The new environment may have a different library directory file and or a different BIOS file Project Files rabbit com 317 18 4 Command Line Usage When using the command line compiler dccl_cmp exe a project file is always read The default proj ect 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 command 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 com mand line The defaults for any other project file can be shown by following dccl_cmp by a the project file switch without a source file The command dccl_cmp shows the current state of all defa
426. tory entries e FATATTR_ARCHIVE include modified entries Including a FATATTR_ macro means you do not care whether the corresponding attribute is turned on or off Not including a FATATTR_ macro means you only want an entry with that particular attribute turned off Note that the FAT system sets the archive bit on all new files as well as those written to so including FATATTR_ARCHIVE in your mode setting is a good idea For example if mode is FAT_INC_ACTIVE then the next directory entry that has all of its attributes turned off will be selected i e an entry that is not read only not hidden not a system file not a directory or a label and not archived In other words the next writable file that is not hidden system or already archived is selected FAT File System rabbit com 156 But if you want the next active file and do not care about the file s other attributes mode should be FAT_INC_ACTIVE FATATTR_READ_ONLY FATATTR_HIDDEN FATATTR_SYSTEM FATATTR_ARCHIVE This search would only exclude directory and label entries Now suppose you want only the next active read only file leaving out hidden or system files The next group of macros allows this search by filtering on whether the requested attribute is set The filter macros are e FAT_FIL_RD_ONLY filter on read only attribute e FAT FIL HIDDEN filter on hidden attribute e FAT_
427. trant then only one task may access the function at a time and access to the function should be controlled with a uC OS II semaphore The following is a list of Dynamic C func tions that are non reentrant Table 5 3 Dynamic C Non Reentrant Functions Library Non Reentrant Functions MATH LIB randg randb rand RS232 LIB All RTCLOCK LIB write_rtc tm_wr STDIO LIB kbhit getchar gets getswf selectkey STRING LIB atof atoil strtok clockDoublerOn clockDoubleroOff useMainOsc useClockDivider use32kHzOsc VDRIVER LIB VdGetFreeWd VdReleasewd XMEM LIB WriteFlash JRIO LIB digOut digOn JOER jrioInit anaIn anaOut cof_anaiIn JR485 LI1B All a reentrant but sets the global_xtoxErr flag The Dynamic C serial port functions RS232 LIB functions should be used in a restricted manner with uC OS II Two tasks can use the same port as long as both are not reading or both are not writing i e one task can read from serial port X and another task can write to serial port X at the same time without con flict 5 10 4 How to Get a pC OS II Application Running uC OS II is a highly configureable real time operating system It can be customized using as many or as few of the operating system s features as needed This section outlines e The
428. ttan ime xp amie wy 4 ISIE UIE SEY e Language rabbit com 23 4 5 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 direc tives makechain and funcchain and one keyword segchain that create and control function chains makechain chain_name Creates a function chain When a program executes the named function chain all of the functions 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 declara tions and before executable statements as shown below my_function data declarations segchain chain_x some statements which execute under chain_x segchain chain_y some 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
429. ult dcp settings The command dcecl_cmp pf myProject shows the current state of all myProject dcp settings And the command dcecl_cmp myProgram c ne 25 pf myProject reads myProject dcp then compiles 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 Use an editor that 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 to not 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 Project Files rabbit com 318 RABBI TE 19 HINTS AND TIPS This chapter offers hints on how to speed up an application and how to store persistent data at run time 19 1 A User Defined BIOS The file RabbitBIOS c is a wrapper that permits a choice of which BIOS to compile A modular design has many of the configuration macros in separate co
430. umber of 512 byte stacks define STACK _CNT_1K 2 number of 1K stacks define STACK _CNT_2K 1 number of 2K stacks define STACK _CNT_4KkK 0 number of 4K stacks OSTaskCreate task1l NULL 256 0 OSTaskCreate task2 NULL 512 1 OSTaskCreate task3 NULL 1024 2 OSTaskCreate task4 NULL 2048 3 OSTaskCreate task5 NULL 4096 4 Note that STACK_CNT_256 is set to 2 instead of 1 uC OS II always creates an idle task which runs when no other tasks are in the ready state Note also that there are two 512 byte stacks instead of one This is because the program is given a 512 byte stack If the application utilizes the C OS II statistics task then the number of 512 byte stacks would have to be set to 3 Statistic task creation can be enabled and disabled via the macro OS_TASK_STAT_EN which is located in ucos2 1ib If only 6 stacks were declared one of the calls to OSTaskCreate would fail If an application uses OSTaskCreateExt which enables stack checking and allows an extension of the Task Control Block fewer parameters are needed in the Rabbit version of uC OS II Using the macros in the example above the tasks would be created as follows OSTaskCreateExt task1 NULL 0 0 256 NULL OS_TASK_OPT_STK_CHK OS_TASK_OPT_STK_CLR OSTaskCreateExt task2 NULL 1 1 512 NULL OS_TASK_OPT_STK_CHK OS_TASK_OPT_STK_CLR OSTaskCreateExt task3 NU OS_TASK_OPT_STK_CLR im i N N 1024
431. umber of bytes added to the program The follows action is an advanced topic related to the subject of or igin directives See the Rabbit 4000 Designer s Handbook for a discussion of origin directives 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 col umn shows line numbers with addresses to their immediate right Using the ad dresses 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 phys ical address That is because in the logical address space they are in the base seg ment 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 address 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 Dynamic C User s Manual rabbit com 80 C Dynamic C ersions DC_1040 Samples DEMO1 map s lel eS 0004 e018 __ dak execallwatches DKAPP LIB a 0004 e036 __ak_getenabledoptions DKAPP LIB 0004 e05f dkGetCharFromstdio DKCORE LI f Global static data symbol mapping and source reference Size Symbol File dkStatusF lags DECORE ff Bddr b3c5 b3c4 b3c3 b3c2 b3el b3bt bffts b380 b37e dkSendF lags DKCORE dkR
432. upport of a working directory e Drive letters the FAT file system is not DOS FAT File System rabbit com 166 12 5 10 References There are a number of good references regarding FAT file systems available on the Internet Any reason able search engine will bring up many hits if you type in relevant terms such as FAT file system file allocation table or something along those lines At the time of this writing the following links provided useful information e This link is to Microsoft s FAT32 File System Specification which is also applicable to FAT12 and FAT16 www microsoft com whdc system platform firmware fatgen mspx e This article gives a brief history of FAT http en wikipedia org wiki File_Allocation_Table e These tutorials give plenty of details plus links to more information www pcguide com ref hdd file fat htm www serverwatch com tutorials article php 2239651 Dynamic C User s Manual rabbit com 167 13 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 documented in the Rabbit Microprocessor Instruction Reference Manual available on the Rabbit website www rabbitsemiconductor com docs 13 1 Mixing Assembly and C Dynamic C permits assembly language statements to be embedded in C functions and or entire functions to
433. utine 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 function called from the slice statement performs 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 indirectly called from a slice statement The only methods supported for leaving a slice statement 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 uwC OS II or TCP IP 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 SLiceBuffer structure below Struct Silicedata ine Cime Oury void my_sp youd caller sj CoData codata SELUCE SliceBuirrer SliceData slice _data char stack fills rest of the slice buffer
434. vailable in Dynamic C This is not an exhaustive list A 1 Macros Defined by the Compiler The macros in the following table are defined internally Default values are given where applicable as well as directions for changing values Table 20 1 Macros Defined by the Compiler Macro Name Definition and Default This is the debug baud rate The baud rate can be changed in the BIOSBAUD sty i 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 lib _BOARD_TYPE_ This macro identifies the CPU type including its revision e g if _CPU_ID_ gt R4000_R0O CPU_ID_ identifies a Rabbit 4000 microprocessor Look in Lib BIOSLIB sysiodefs 11ib for the constants and mask macros that are defined for use with _CPU_ID_ Gives the Dynamic C version in hex i e if Dynamic C version 10 40 is COVER being used the value of CC_VER will be 0x0A40 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 string literal is of the form Mmm dd yyyy The text used for the months is as follows Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec There is a space as the first c
435. ver 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 pro gram the bug is in Repeat until the problem is isolated Dynamic C User s Manual rabbit com 90 6 4 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 gather ing 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 Rabbit 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 tech groups yahoo com group rabbit semi Another good online source of information and help is the Rabbit bulletin board Go to www rabbit com support bb If you are having trouble figuring out what is happening remember to analyze the bug under various con ditions 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 5 Reference t
436. ves eee eeeeeeeeeees 216 Fe E i HAS nn Arae ain 216 1a EEEE EEA NE 89 Hel 16 ALWAYS_OM hu ceeseceseceseceeeeceeeteneeeeeeenes 190 a ca a en re mans gen eeseteesiee the neta sage ne ueete ADYMEI 5 A E ES E E E 190 eous ASIN A AT A O A 190 nodebug ao 217 auio 191 POSING sionen taa 217 bbrarti E at 191 endasm IA EEPE R NAANA AE EEE A EEE 217 break ee ee 192 error EVET NEOA EO SEEI EEO A ONL ITEE 217 Be a a ach th 192 fatal ENTENONO E NETI E OENE 2 1 8 c ase E E ee iy dee 192 funcchain 00 cecccccececeseseeeesesseeees 218 rnn 193 GLOBAL INIT sssssssisrrsrstsrrserseeee 218 aLa El DLO E E TT 193 if elif CONSE eian a TE RE ERS 194 Ken CONTINUE 0 0 cece eeeeecececseseeceseesecesesereneees 195 COSl sena e e AE 195 endif sssssssssssssssssrsrrsrnrrnrsnrnnnnns 219 debug eee hear et 195 HEMEL esse eseeeestestsettetetteestceectetecteee 219 PAWEL A AA EEE AEE 220 defali cess esseeveccvocstescicnecxaeweesvesvescsextav 196 Get eee ances eae ee eee 196 HINCLUCE o ssssssseeseeeeeceeeeseesesnnntetteetee 220 else 196 interleave pene EEEE EE PT ATAT io Si aati cede ea dae 220 extern S A E la 197 makechain cccccsscceeesessscsseeseeees 221 a memmap ssrin 221 FirSttiMe cccccsccccsceseeeseesseceeccssssccesseeeee 200 HPLAQMA wosseseeseeeeeeseerseeseseeeeeceeeececeeceeee 221 E ace 200 precompile os seseeeeseessssesseteeteeeee 222 eer ne nar onve ean 201 HUNCEE ssesseerereeeeeretretetttetesteccetecesee 222 BOLO
437. warnings warns are not displayed in the Compiler Mes sages window until the pragma nowarn end statement is encountered The argument is optional default behavior is warnt pragma nowarn cannot be nested Keywords rabbit com 221 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 developing 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 lib e Function chains and functions using segment chains cannot be precompiled e 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 p
438. ways be accurate when assembly code is being single stepped Stdio Select this option 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 auto matically if it is not already open unless Automatic open is unchecked in the Debug Windows dia log in Options Environment Options The various Find commands available on the Edit menu can be used directly in the Stdio window Graphical User Interface rabbit com 292 Assembly F10 Select this option to activate or deactivate the Disassembled Code window The Disassembled Code window aka the Assembly window displays machine code generated by the compiler in assembly language format The Disassemble at Cursor or Disassemble at Address commands from the Inspect menu also acti vate the Disassembled Code window m Disassembled Code _ Address Opcode Instruction Cycles DEMO1 C 13 i 0 gt 1b34 BF D402 37 EF DEMO1 C 15 1b38 o0 1b39 E7 DEM01 C 15 while ib3a 210100 ib3a cc ib3e CA7A1B 1b41 EF DEMO1 C 16 1b42 C402 1b44 23 1b45 D402 1b47 EF DEMO1 C 18 1b48 BF 1b49 D400 1b4b EF i for 3 0 2 wal alal 10 1d rst 0x02 sp nop rst 0x20 1 i ld hl bool hl jp z Oxib va rst 0x28 Ox0001 ld hl inc hl lda sp 0x02 rst 0x28 3 lt 20000 clr hl ld sp 0x00 r
439. 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 func tion where you are single stepping Costatements A costatement is a Dynamic C extension that allows cooperative multitasking to be programmed by the user Keywords like abort and wait for are available to control multitasking operation from within costatements Quick Tutorial rabbit com 18 RABBI TE 4 LANGUAGE Dynamic C is based on the C language The programmer is expected to know programming methodologies and the basic principles of the C language Dynamic C has its own set of libraries which include user call able 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 understand the differences between standard C and Dynamic C For more information on the C language see a reference book such as The C Programming Language by Kernighan and Ritchie published by Prentice Hall 4 1 Storage Classes Variable storage can be auto or static The term static means the data occupies a permanent fixed location for
440. with MS_TIMER seese 93 M 1001 0 40 173 217 Main function eseese 26 203 320 MAP File erien 79 MBR sercan sient a eee 161 memory address SPACE oo eee eee cee eseeeeeeeees 129 DATAORG sinroro 322 324 CUIMP a2sc Seas hte AG aes 253 dump at address 00 eects 255 dump flash crescens 255 dump to file oe eeeeeeeeeees 255 dynamic allocation wee 132 eXtended oseese 10 182 214 management o ee eeeeeeeseeeeeeees 190 206 MAP erer ee EErEE TEK E EES 329 TOOT sientas 131 174 206 322 root keyword esssessssrssereersrrerrerereseses 11 memory management unit 10 129 menus Close all open 2 00 eeeeeeeeeeeeeeeeeeneeeenees 242 Compile oscisisssisseisessssbsnssesesseantedeessesess 248 Edif iesnas Gal iciines 245 Help cesscecssesssessessnaiseusesueseasasiangseabsventons 297 INSPOCt nennen nenne 253 292 OPUODS siesvssccscisenieeeiesudideestenestdeestestie 257 RUN oeeie n KEE 250 Message WiINdOW seesseeeseeseeseeeeee 247 290 MMU ecen edrnne n 10 129 mode deb g TUN sirtarin 247 CCIE E E E AEE E EE 247 print preview esesesseseeereerrereesreerees 244 modules sesssesosseseesrererererrrses 28 30 31 330 body tieits ticks cstedenesecucbeieiaearteae 28 30 31 CXAMIPIS cerrota 30 headet ssosesirenresisiesaen 28 29 30 197 E RE E 28 29 MOUSE iener enin r E 240 MS TUMER wesccscscocesssasteseastsnsseasesssess 93 327 multitasking COOPETALIVE e cccesskencsteseseiscsbesesedncsene conte 33 pre
441. x DEFINITION DELIMETER 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 character pair i 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 p or default dcp if p is not used See command line compiler documentation e A macro redefined on the command line will supersede the definition read from the project file Graphical User Interface rabbit com 284 Examples and File Equivalents Example DEF 1 MAXN 10 DEF2 Equivalent define DEF define MAXN 10 define DEF2 Example DEF 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 FOR
442. xmem far type array 5000 An array of 5000 elements of type type in xmem Language rabbit com 21 Note that the size limit imposed on arrays in root memory 32 767 bytes also apply to far arrays You can declare an array as large as your largest contiguous free block of xmem available up to this limit See Chapter 10 Memory Management for more information on how xmem is allocated and used by the com piler 4 3 5 Complex Declarations All of the elements discussed so far can be applied in a single declaration to produce very complex types for variables As an example such a declaration may look like the following const type far const ptr cO cl amp const_array In this example ptr is a constant pointer in far xmem constant to a 2 dimensional array of cO x c1 ele ments of type constant type In other words we have a pointer in xmem to a two dimensional array of con stant elements The array the pointer is pointing to is in root memory since the far qualifier only associates with the pointer variable itself The pointer is constant so it must be initialized and the first const implies that we can not change the elements in the array since they represent constants which are in flash and can not be modified We assume that c0 c1 and const_array are all constant variables or literals defined previously 4 3 6 Sample Programs From the Dynamic C installation directory look in Samples Rabbit4000 FAR for sample
443. y fat_Open The fat_Seek function changes the position pointer Clusters are allocated to the file if necessary but the position pointer will not go beyond the original end of file EOF unless doing a SEEK_RAW In all other cases extending the pointer past the original EOF will preallocate the space that would be needed to position the pointer as requested but the pointer will be left at the original EOF and the file length will not be changed If this occurs the error code EEOF is returned to indicate the space was allocated but the pointer was left at the EOF If the position requires allocating more space than is available on the device the error code ENOSPC is returned The first parameter passed to fat__Seek is the file handle that was passed to fat__Open The sec ond parameter pos is a long integer that may be positive or negative It is interpreted according to the value of the third parameter The third parameter must be one of the following e SEEK_SET pos is the byte position to seek where 0 is the first byte of the file If pos is less than 0 the position pointer is set to 0 and no error code is returned If pos is greater than the length of the file the position pointer is set to EOF and error code EEOF is returned SEEK_CUR seek pos bytes from the current position If pos is less than 0 the seek is towards the start of the file If this goes past the start of the file th
444. y Default GUI Equivalent Description Factory Default GUI Equivalent 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 Disable type demotion checking Type demotion checking is performed Uncheck Demotion in the Project Options Compiler dialog box Enable type checking of pointers Type checking of pointers is performed Check Pointer in the Project Options Compiler dialog box Disable type checking of pointers Type checking of pointers is performed Uncheck Pointer in the Project Options Compiler dialog box Enable type checking of prototypes Type checking of prototypes is performed Check Prototype in the Project Options Compiler dialog box Command Line Interface rabbit com 306 tt Vp vp Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Description Factory Default GUI Equivalent Disable type checking of prototypes
445. y Default GUI Equivalent Example Description Factory Default GUI Equivalent Example ret Retries Description Factory Default GUI Equivalent Example rf RTIFilePathname Description Factory Default GUI Equivalent Example pbf PilotBIOSFilePathname Compile using a pilot BIOS found in Pi lotBIOSFilePathname Bios Pilot bin None dcecl_cmp myProgram c pbf MyPath MyPilot bin pf projectFilePathname 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 relative to the pf switch will override the settings from the project file The project file default dcp Select File Project Open dccl_cmp myProgram c ne 25 pf myProject dccl_cmp myProgram c ne 25 pf myProject Note The project file extension dcp may be omitted dcp cr CT The number of times Dynamic C attempts to establish communication if the given timeout period expires 3 None dccl_cmp myProgram c ret 5 Compile to a bin file using targetless compilation parameters found in RTIFilePathname The resulting compiled file will have the same pathname as the source c file being compiled but with a bin extension None dcecl_cmp myProgram c rf MyTCparameters rti d
446. yboard shortcuts A keyboard shortcut that is not menu specific is the Esc key which will make any visible menu disappear 16 1 4 Editor Window Popup Menu Right click anywhere in the editor window and a popup menu will appear 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 Dynamic C Dist 10 40 File Edit Compile Run Inspect Options Window Help O sce SS LBAN New Ctrl demoi c Open File at Cursor Ctrl Enter Z Worlad 2000 Close Ctrl F4 Insert Code Template Sample progra Toggle Bookmark p pr22 pee ee epi ee rete Go to Bookmark d ERER maint Select All Ctrl A Cut Ctrl x ane Ne ae Copy Ctrl C Paste Ctrl i 0 Find Ctrl F Edit Mode F4 while 1 i Add Watch Ctrl v Read Only H j I R i ji for j 0 j lt 2 v Use Syntax Highlighting printf i Options efault Line 18 Col 29 Insert Run Polled a 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 editor win dow if the file name is listed in the lib dir file 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 dia log box will appear so that the file may be manu
447. ymbolic 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 reconstruct the path and allow the customer to eas ily move backwards in the current call tree to get a better feeling for the current debugging context Dynamic C User s Manual rabbit com 69 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 reverse 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 con tents of the debugged program are edited Dynamic C prompts for a recompile e Enhanced Stdio Window The Stdio window is directly searchable Dynamic C User s Manual rabbit com 70 6 2 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 T

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