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INtime 6 Quick Start Guide

1. MY_MBOX_1 char rt_my_mbx_2 MY_MBOX_2 fundef _MULTI_NODE_ void Client Threadi void t LOCATION hloc RTHANDLE hotherRoot RTHANDLE Process RTHANDLE hDmbx RTHANDLE hRmbx char nodenam 22 char message 128 WORD status WORD n_recvd igndes MULTI NODE dof do printf Enter the name of the tai gets nodenar bloc GetRtNodeLocationByName nodename iE nk BAD_LOCATION print Could not find location of node ts n t nodes nodenane while hloc BAD ATION Af status GetRtNodeStatus hLoc E_OK printf Node ras is not ready ts n nodename GetRtErrorText GetLastRtError 3 hOtherRoot GetRemoteRootRtProcess hloc Af hOtherRoot BAD_RTHANDLE Pinte Could not get remote root process 4s n GetRtErrortext GetLastRtError 1 while hotherRoot BAD_RTHANDLE page 40 of 64 Copyright 2005 2014 TenAsys Corporation telse hOtherRoot GetRtThreadHandles ROOT_PROCESS tendit 1 Lookup the mailbox hProcess LockupRtHandle hOtherRoot rt_RTData_ process WAIT_POREVER Lf hProcess Fail ve BAD_RTHANDLE nnot find data mailbox process Look up M _MBOX_1 hDmbx LookupRtHandie hProcess rt_my_mbx_1 WAIT_FOREVER Af hDmbx BAD_RTHANDLE Fail Cannot find data mailbox 1 Look up M _MBOX_2 hRmbx LookupRtHandie hProcess rt_my_mbx_2 WAIT_FOR
2. Fast Does Not Equal Deterministic A Multi threaded Example Trace the Threads With INScope Next Steps Configuring the INtime for Windows Kernel local Node INtime for Windows Node Management INtime for Windows Device Manager B INtime for Windows Sample Applications page 2 of 64 Copyright 2005 2014 TenAsys Corporation Figures Figure 1 INtime for Windows configuration Figure 2 INtime Distributed RTOS configuration Figure 3 Entering License Codes Figure 4 Bootloader screen Figure 5 Boot status and tethering Figure 6 Creating a new project Figure 7 Creating a New INtime Project Figure 8 Selecting Process Elements Figure 9 Specifying Polling Thread Parameters Figure 10 Wizard Summary Screen Figure 11 Files Generated by the wizard Figure 12 Selecting INtime Project Figure 13 Selecting Node from Visual Studio Figure 14 HelloWorld Console Window Figure 15 Configuring INtime Explorer Options Figure 16 HelloWorld Console Window Figure 17 Terminating the HelloWorld Process Figure 18 Setting a Breakpoint Figure 19 Basic INtime Solution Architecture Figure 20 Data flow Figure 21 Selecting the MFC Application Template Figure 22 MFC Application Type Selections Figure 23 Specifying Additional Include Directories Figure 24 Dialog Editor in the Toolbox Figure 25 NTXData Dialog Box Figure 26 Accessing the dialog resource screen Figure 27 Running the Complete
3. In this section we will use the INscope to monitor a multi threaded real time process How Fast is Deterministic The deterministic nature of a real time system forces a unique set of requirements upon software applications A simple definition of a real time system is one in which the time required to respond to an event is just as important as the logical correctness of that response Hard real time systems require the highest degree of determinism and performance Typically their worst case event response requirements are measured in microseconds Bounded response to events is the key to defining a hard real time system Real time systems require determinism to ensure predictable behavior of the system Without determinism a system cannot be called real time and without bounded determinism a system cannot be classified as hard real time Figure 34 Comparison of Real time Systems hard reaime eventhanding soft ealsime event handling The specific degree of determinism required is a function of the frequency of the real time events size of the time interval between events and the effect of delays on the dynamic characteristics of that system That is how often do events occur and how quick and repeatable must the system be in response to those events Being able to place a finite and acceptable bound on the value of these numbers is what distinguishes a hard real time system from soft real time systems Fast Does Not Equal Determi
4. e Pentium class or better processor See note above listing the kind of processor required to support each example application 16MB of free RAM for INtime and your real time applications 75MB hard disk space for tools examples and documentation Windows 8 Windows 7 Windows Vista Windows Server 2012 Windows Server 2008 Windows Server 2003 or Windows XP with Service Pack 3 See the Knowledge Base at www tenasys com support for updated Windows version support information Both 32 and 64 bit versions of Windows are supported e Visual Studio 2013 2012 2010 and 2008 See the Knowledge Base at www tenasys com support for updated Visual Studio version support information INtime for Windows applications run with Windows 8 Windows 7 Windows Vista Windows XP Windows XP Embedded Windows 2003 Server Windows Server 2008 and Windows Server 2012 The examples in this guide focus on the Windows 7 environments Check the installer readme file for any amendments to these requirements INtime Distributed RTOS Target Requirements The target machine needs to be a standard PC with the following requirements e Pentium class or better processor with APIC enabled See note above listing the kind of processor required to support each example application Atleast 64 MB of RAM per hardware thread plus additional for your applications Copyright 2005 2014 TenAsys Corporation page 7 of 64 e An ATA or SATA in
5. tenAsys INtime 6 Quick Start Guide October 2014 TenAsys Corporation 1400 NW Compton Drive 304 Beaverton OR 97006 USA 1 503 748 4720 fax 1 503 748 4730 info tenasys com www tenasys com Copyright 2005 2014 TenAsys Corporation 20141020 tenAsys RC sera kane This document is protected by US and international copyright laws TENASYS INTIME EVM and IRMX are registered trademarks of the TenAsys Corporation Other companies products and brands mentioned herein may be trademarks of other owners Information regarding products other than those from TenAsys has been compiled from available manufacturers material TenAsys cannot be held responsible for inaccuracies in such material TenAsys makes no warranty for the correctness or for the use of this information and assumes no liability for direct or indirect damages of any kind arising from the information contained herewith technical interpretation or technical explanations for typographical or printing errors or for any subsequent changes in this article TenAsys reserves the right to make changes to specifications and product descriptions at any time without notice and without incurring any liability Contact your local TenAsys sales office or distributor to obtain the latest specifications and product descriptions Copyright 2005 2014 TenAsys Corporation All Rights Reserved No part of this guide may be copied duplicated rep
6. Go to the INtime Explorer main window 2 Find the HelloWorld real time process in the left window of INtime Explorer each INtime icon represents one real time process 3 Click the line to select the HelloWorld process 4 Click the red x button in the toolbar to delete the process Figure 17 Terminating the HelloWorld Process oma Answering Yes to the deletion warning pop up terminates the real time process The HelloWorld process icon disappears from the INtime Explorer process list Notice that the HelloWorld console window remains on your desktop but the console window s title bar displays Finished Debugging HelloWorld with Visual Studio With INtime you can debug real time processes directly from within Visual Studio from Visual Studio 2008 onwards Using the just created HelloWorld project you can step through the code and perform basic debugging tasks Note If you are continuing directly from the previous section steps 1 to 4 are not necessary 1 Ifthe INtime kernel is not already running start it using INtime Status Monitor NodeA Start NodeA in the Windows Toolbar 2 Start the Visual Studio development environment 3 Open the HelloWorld project 4 Open Pollthread c within the HelloWorld solution 5 Set a breakpoint on the for loop using one of these methods Double click the vertical bar to the left of the source window Place the cursor on the line and press the F9 key page 24 of
7. a license to the target This connection is called tethering and is described in the licensing section of the User Manual Set Administrator password This password is used to gain access to the web based configuration utility on the target You can enter a blank password if desired If you enter a non blank password you are prompted to re enter it for confirmation purposes Reboot the system Remove the installation media and allow the system to reboot After rebooting the INtime RTOS load process appears as shown below 2005 2014 TenAsys Corporation page 13 of 64 Figure 4 Bootloader screen Tit ine Distributed R Copyright 2410 2612 by Teufaye Corporation AIL rights reser non aise oot tnit ina novus on wots ie When complete the INtime RTOS staris and searches for the tether server at the IP address set up during installation In the example below the tether server address was set to IP address 172 16 10 5 and shows System now TETHERED Figure 5 Boot status and tethering pike iont DHCPDISCOVER on rtt DHEPOISCOVER om eth DHCPREOUEST on rtliy linet iant rtig ihel iont bound to 172 16 14 Loading aettpa rte CD Loading binetwther rte m11 Copts ting tethered TNtine Development Susten RTOS Loader now TETHERED Mad ing bin nodom fount igenndobont sye Copts Cm1 1 18 Another way to verify that the INtime Distributed RT
8. other words it can be used to identify and stop misbehaving real time threads that are locking up the system Copyright 2005 2014 TenAsys Corporation page 59 of 64 INtime Memory specifies the total amount of physical memory allocated to the INtime real time kernel This is memory reserved exclusively for use by the INtime kernel and all real time processes and threads This memory is never paged and is therefore guaranteed to be deterministic Settings which affect all nodes on this host are in the System Wide tab Following are some useful details regarding this tab Boot Mode specifies how INtime should allocate CPU resources between INtime and Windows shared or dedicated Dedicated means one core of a multi core system is dedicated to an INtime kernel and all real time applications In this mode you may configure multiple INtime kernels on a multi core host system Shared means one core is shared between INtime and Windows This configuration parameter has no meaning on a single core processor since the CPU is always shared between Windows and INtime when there is only one CPU core INtime Memory Allocation specifies where INtime should allocate memory resources from inthe INtime for Windows configuration setup In the default case INtime allocates memory from the Windows non paged pool The amount of memory that can be allocated in this way is limited to 128 Mbytes in order that Windows performan
9. real time thread can detect and log the failure delete the offending thread and recreate it without affecting Windows or other real processes Floating Point Exception Handling Demonstrates floating point exception handling Graphical Jitter Sample Measures the minimum maximum and average times between low level ticks using an alarm event handler precise timer This application is comprised of both real time and Windows executables and illustrates use of the NIX API Global Objects Sample Illustrates various aspects of global objects and node management High Performance Ethernet Sample Illustrates the use of the High Performance Ethernet drivers included with INtime INtime API Sample Exercises most INtime software system calls INtimeDotNet Samples Sample applications showing the use of the INtimeDotNet assembly for use in Windows applications that use the CLR to communicate to the RT side Network Datagrams Sample Examples of how to send unicast multicast and broadcast datagrams 2005 2014 TenAsys Corporation page 63 of 64 Sample Application Description NTX Sample MsgBoxDemo This INtime application has both a Windows and a real time portion The Windows portion looks up a mailbox created by the real time portion and waits at the mailbox Whenever a real time thread sends a message to the mailbox the Windows portion displays the rece
10. 64 Copyright 2005 2014 TenAsys Corporation Figure 18 Setting a Breakpoint race js nes DEL sea Out 6 Start the debugger using one of these methods e Press the F5key Click the Start button on the Visual Studio tool bar The HelloWorld RTA process launches Note If you are not running the default configuration you may need to select the target INtime node in the INtime project settings The HelloWorld process runs to the breakpoint Following the break you can step through the code and watch variables change e g x as you step through the loop Debugging an INtime real time thread in this way is virtually identical to debugging a Windows thread Copyright 2005 2014 TenAsys Corporation page 25 of 64 Example 2 Working Together Windows and Realtime The typical INtime for Windows solution consists of these executables A standard Windows process that provides access to the Windows user interface database functions and other Windows specific functions Areal time INtime process containing time critical threads The INtime NTX library manages communication between the two parts This example uses INtime data mailbox objects to demonstrate how a simple Windows MFC dialog process can exchange data with real time threads running on the INtime kernel Two processes one application Three data mailboxes MY_MBOX_1 MY_MBOX_2 and a third mailbox MBOX_Signal tha
11. Distributed RTOS configuration Note This requires that the target platform have a multicore processor with 2 or more hardware threads e Modifying the RtData application to enable the applications to run on separate nodes f Running the applications Creating the RtSend application This real time process looks for the RTData application and its mailboxes prompts the user for the input string and sends it It then receives a reply 1 Open Visual Studio create a real time project called RTSend and place it in the INtimeApps directory you created in the HelloWorld example 2 Choose A full featured application from the INtime Application Wizard and click OK leave C unchecked for this example spy Copyright 2005 2014 TenAsys Corporation page 39 of 64 3 From the elements setup dialog add a Client Thread last element in the list 4 Check the Send to data mailbox item upper left leave all other items unchecked then click OK to return to the elements setup dialog 5 Click Finish followed by OK The wizard automatically generates real time code templates The client thread in ClientThread1 c sends messages to the RTData process via MY_MBOX_1 then receives the response from MY_MEOX 2 Edit the code Open ClientThread1 c Add the process and mailbox names and modify ClientThread1 adding the following code 11 Proce s and mailbox catalog nar char rt_RTData_process RTData char rt_my_mbx_i
12. Pole FB utile Ly ResdMest Wh Tes BB Ch page 20 of 64 Copyright 2005 2014 TenAsys Corporation Figure 13 Selecting Node from Visual Studio Heo Popery Papes Free 3 Select the node on which you wish to run your program The figure above shows NodeA running on INTIMEDEMO system the system on which the Windows and INtime SDK is running also known as a local Node This represents an Ntime for Windows configuration setup NodeA running on Target_System repesents an INtime Distributed RTOS configuration setup For this tutorial select the local NodeA 4 To run the application with Debug do one of the following Select Debug Start Debugging e Press F5 e Click the green arrow on the tool bar An INtime console window appears and the message HelloWorld appears ten times each second inside the console window Copyright 2005 2014 TenAsys Corporation page 21 of 64 Figure 14 HelloWorld Console Window a7 EE 5 To stop the application click the Stop icon square on the Toolbar buauul or press Shift F5 Introducing the INtime Explorer In this Example the INtime Explorer aka INtex will load and run the just built HelloWorld application INtex displays the real time objects present on an INtime node an INtime real time kerel 1 Start the INtime kernel if it is not already running from the INtime Status Monitor in the Window
13. how many times each of the two high priority threads ran since the last time the low priority thread ran These high priority threads can and will pre empt the low priority thread as shown by the figure above If no number appears after the dots it means zero precise timer events were detected The numbers vary because the time to run PollThread3 varies in length 30 Suspend PollThreadi and again watch the console window s output 31 Suspend and resume any of the threads including PollThread3 Do the results match your expectation page 56 of 64 Copyright 2005 2014 TenAsys Corporation Next Steps This guide introduces a variety of INtime development tools and features The example applications were designed to help you become familiar with developing INtime real time applications for Windows The next step is to become familiar with the INtime architecture and API See the online help and Users Manual for more detailed information about these subjects Once you are familiar with the INtime kernel architecture you might want to review the sample real time applications that were installed along with the INtime development package Appendix B includes a list of the sample applications with their descriptions Your final step is to review how to deploy INtime real time applications You have the option of creating real time applications that share the hardware platform with Windows or stand alone INtime nodes with INtime Distri
14. mode Windows and INtime running on a dedicated HW thread with a processor that support two HW threads Examples 3 requires the processor support three 3 or more HW threads When running the Example 1 2 and 3 in the INtime Distributed RTOS configuration setup you will need a second PC Platform to install INtime on Example 3 requires the second platform to have a processor supporting two 2 or more HW threads Notational Conventions This guide uses the following conventions Allnumbers are decimal unless otherwise stated 1 A HW thread is defined as a single processor core or one side of a single core Hyper threaded processor For example a Dual Core processor and a Single core Hyper threaded processor supports two 2 HW threads A Dual core hyper threaded processor supports four HW threads page 6 of 64 Copyright 2005 2014 TenAsys Corporation BitO is the low order bit If a bit is set to 1 the associated description is true unless stated otherwise Data structures and sy Notes indicate important information about the product Tips indicate alternate techniques or procedures that you can use to save time or better understand the product Requirements ax strings appear i INtime SDK and INtime for Windows Requirements The tutorial applications in this guide will be built and executed directly on your development machine Your development machine needs to meet the following minimum requirements
15. of 64 Copyright 2005 2014 TenAsys Corporation IGet root process handle needed to get RTData process handle LE m RoctProcess ntxGetRootRtProcess hNtx NTX_BAD_NTXHANDLE MessageBoxEx NULL T Could not find INtime root process Dr wrxpata MB_ICONERROR MB_OKCANCEL LANG ENGLISH exit 0 Get RTData process handle if m TestNTXProcess ntxLockupNtxhandle m RootProcess rt TestNIXData process Oxffff NIX BAD NTXHANDLE MessageBoxEx NULL T Could not find RIData proces a nwrxpata MB_ICONERROR MB_OKCANCEL LANG ENGLISH exit 0 Now get a handle for each mailbox if m_RtMailbox_1 ntxLookupNtxhandle m_TestNTXProcess zt_my_mbx 1 Oxffff NTX_BAD_NTXHANDLE 11 m_REMailbox 2 ntxLookupNtxhandle m_TestNTXProcess zt_my_mbx 2 Oxffff NIX BAD NTXHANDLE MessageBoxEx NULL _T Could not find data mailboxes _r NrData MB_ICONERROR MB_OKCANCEL LANG ENGLISH exit 0 i Get the user information typed in IDC_DATA and send it to mailbox MY_MBOX_1 GetDlgItemText IDC_DATA send buf 30 ntxSendRtData m RtMailbox_1 send buf 128 Look for response back from RTData if recv_buf size ntxReceiveRtData m RtMailbox 2 recy buf INFINITE NIX_ERROR if ntxGetLastRtError E_TIME MessageBoxEx NULL _T Received data failed Trq NTXData MB_ICONERROR MB_OKCANCEL LANG ENGLISH
16. those threads run depends on the number of CPU cores in your system and how your system is configured In a single core system INtime and Windows always share cycles on the single core In a multi core system INtime and Windows can share one of the processor cores or INtime can be configured to use one core exclusively for real time threads In either case all remaining CPU cores are allocated to Windows On a single core processor had we not included a s1e p in the PollThread ui1e 1 loop Windows would never have run and the user interface on your development machine would have frozen In other words the system would appear to have hung when in fact the real time threads were simply consuming all the available CPU cycles If your development system contains a multi core processor Windows would not have frozen if we had omitted the call to sleep in the PollThread while 1 loop because the INtime kernel and its applications only utilize the resources of one core Thus on a multi core system Windows always has at least one core available Use the zoom controls on the menu or toolbar to see the trace more clearly and inspect the task switches between threads By depressing the Z button on the toolbar and tracing a rectangular region with the page 54 of 64 Copyright 2005 2014 TenAsys Corporation mouse you can zoom to a specific segment In the screenshot below we can see all three threads running in a zoomed vie
17. 6 Modifying Thread Parameters Dtme Application Wizard MutiThroad ay a ag Hes Mee for wats ae E ire Pony ange 0 25 act ane m Kobos n 4 mpi mbar of lesan to nt CR m r Copyright 2005 2014 TenAsys Corporation page 49 of 64 This sets up PollThread3 as a simple delay thread not a precise timer based interval thread like the previous two threads As a simple delay thread PollThread3 will run approximately once every twenty milliseconds The imprecision of Poll Thread is due to the variable amount of processing especially by higher priority threads that can occur between each sleep call 14 Click OK You now have three time based threads 15 Click Finish and double check the summary screen to be sure it lists the following threads and parameters for those threads Figure 37 MultiThread Project Summary Thine oan Wand To Een 16 If everything is fine click OK at the summary screen otherwise push the Cancel button and create a MultiThread project that matches the parameters specified above 17 After clicking OK the wizard builds your project files Three PollThread c files are created Each PollThread c file corresponds to one of the three polling thread elements we created using the INtime application wizard 18 Add the two global variables shown below to the beginning of MultiThread c for communicating between our timing threads void Pol
18. Click OK to return to the Add Elements dialog 9 Highlight s10ba1 in the elements list on the right of the dialog and click the Edit Element button In the dialog box that appears you can modify real time process parameters The default parameters are fine for this example 10 Click OK and then the Finish button The final wizard summary screen appears Figure 10 Wizard Summary Screen Rime Appiction Ward Halo i L VA TES Tier open hr enc ane ei lr matos fee Foxes J poper ran inte neiense i oong rends he et 2 grlo 170 nuclue sleep 1000 mese ou we as your programming rage Tre realsetctnoaues cent atencas se recesean 11 Click the OK button The wizard generates project files The Visual Studio solutions explorer displays the following C files generated by the wizard page 18 of 64 Copyright 2005 2014 TenAsys Corporation HelloWorld c the main function which contains initialization and cleanup code The file name is derived from the project name Pollthread1 c the polling thread code generated by the add real time elements section of the wizard Utilc contains general purpose utility routines Figure 11 Files Generated by the wizard 12 Edit Pollthreadt c a Open Pollthread1 c b Add an integer named x at the start of the polling thread c Add a for loop and print statements after the TODO comment The resulting code should look li
19. EVER Af hDmbx BAD_RTHANDLE Fail Cannot find data mailbox 2 while 1 1 1 prompt the user for a messa printr nlype a message li gets sage 1 send the message SendRtData hDmbx message 128 I receive a response message n_recvd ReceiveRtData hRmbx mess oy WAIT_FOREVER iF n_recvd break 1 Printe Received tu bytes 4s n n_recvd message Fail Faile to receive message from mailbox 2 n Running the solution 1 Start Node With INtime for Windows start the local NodeA With INtimeDistributed RTOS make sure the target node is booted 2 Start RTData rta 3 Start RTSend rta on the same node 4 Atthe prompt type a message and observe the response when the message is returned Copyright 2005 2014 TenAsys Corporation page 41 of 64 Figure 28 RtData process console output Hot MROK Shown running in debug mode with notifications waiting for a message from the RtSend process Then displaying the message that it received Figure 29 RtSend process console output w Shown running in debug mode with notifications prompting Type a message for message to be entered Upon sending the message hello the application acknowledges receipt of the message and prompts for another message Adding a second node So far we have two cooperating processes running on the same node Now we will create
20. INtime Distributed RTOS Target Installation The steps below describe the INtime Distributed RTOS target installation process This description assumes that you are booting from the SDK CD ROM media See the online documentation for an alternate method for booting from a USB Flash drive IMPORTANT Once the target system installation is complete the target system checks for the appropriate license to run You must do one of the following For development Connect to your SDK system and run the tethering server application Program Files INtime binitetherserver exe The tethering server application allows a target system loaded with INtime to run during development e For deployment Load and activate run time license on the target system For details see the User Manual On boot an automatic installation script runs that prompts you to respond to a number of configuration questions Note At each step the script prompts you to continue If you choose not to continue the previous step generally repeats Configuration questions include Prompt Description Keyboard Select a keyboard type from the menu by entering its selection number and then press Enter Disk selection A list of disk devices with drive names appears Select the drive where you plan to install INtime Copyright 2005 2014 TenAsys Corporation page 11 of 64 Prompt Description Partitioning the disk Note The follo
21. OS system is up is to check whether its web server responds by opening a browser and entering its IP address 172 16 10 63 displayed in the screen above dhclient bound to 172 16 10 63 renewal in 691200 seconds When the following screen appears click INtime Configuration A login screen appears page 14 of 64 Copyright 2005 2014 TenAsys Corporation Copyright 2005 2014 TenAsys Corporation page 15 of 64 Example 1 The INtime Application Wizard HelloWorld This exercise introduces the INtime Application Wizard which you use to create a simple real time process The Wizard adds template code for elements to a new project such as semaphores threads shared memory allocation interrupt handling and client threads The Wizard creates the foundation for the HelloWorld example project In the HelloWorld project you will create a thread that executes in an infinite loop The thread will sleep approximately 1000 milliseconds and print the phrase HelloWorld ten times in an INtime console window per each loop iteration Note For the sake of brevity only screenshots of significant value are shown within the tutorials of this guide Using the INtime Application Wizard 1 Create a directory on your development machine called INtimeApps suggested to store the examples from this Guide 2 Start Visual Studio Select C environment 3 Select File New Project to create a new Visual Studio project Figure 6 Crea
22. Solution Figure 28 RtData process console outpu Figure 29 RtSend process console output Figure 30 INtime Configuration Panel applet Figure 31 INtime Node Management Applet Figure 32 NodeA and NodeB are shown as local node Figure 33 Selecting Node within Visual Studio 2008 amp ee be Figure 34 Comparison of Real time Systems Figure 35 Modifying Thread Parameters Figure 36 Modifying Thread Parameters Figure 37 MultiThread Project Summary Figure 38 MultiThread Application Output Figure 39 INscope Event Trace Figure 40 Zoomed Inscope Trace Figure 41 Intex View of the Multithread App Figure 42 INtime Control Panel Applet Copyright 2005 2014 TenAsys Corporation page 3 of 64 Figure 43 Node Management Kernel Tab Figure 44 Node Management System Wide Tab Figure 45 Device Configuration Applet page 4 of 64 Copyright 2005 2014 TenAsys Corporation Welcome Before You Begin Thank you for your interest in our INtime 6 SDK Software Development Kit supporting the INtime RTOS The INtime 6 SDK supports the following usage configurations INtime for Windows where the INtime RTOS runs simultaneously alongside the Microsoft Windows operating system INtime Distributed RTOS where INtime runs as a stand alone RTOS Configurations run the same binary application and support multicore implementations with one or more one instance of the INti
23. a second node and run the processes on different nodes INtime for Windows This section explains how to create a second node in INtime for Windows For INtime Distributed RTOS see the next section This section requires that you have at least a four core processor or dual core with Hyperthreading enabled page 42 of 64 Copyright 2005 2014 TenAsys Corporation In INtime for Windows open the INtime Configuration Panel and open the Windows Control Panel If you have Windows Vista or later click the System and Security group When that expands or if you have a different version of Windows select the INtime icon Figure 30 INtime Configuration Panel applet e tin Contato ae a CEE Open the Node Management applet On the left side of the dialog you see a map of all the known INtime nodes Currently there is just one NodeA showing Before creating a new node we have to 1 reconfigure the INtime boot mode so that NodeA has a dedicated processor core To do this change the Boot mode setting in the right hand panel to Dedicated Click the Save button Figure 31 INtime Node Management Applet Ati Node Management eee E L Copyright 2005 2014 TenAsys Corporation page 43 of 64 Then 2 Click the New Node button and 3 Select Local and insert Node name NodeB or some other preferred name Click OK Reboot the system Check that you have two local Nodes runni
24. buted RTOS For more information see the documentation Copyright 2005 2014 TenAsys Corporation page 57 of 64 A Configuring the INtime for Windows Kernel local Node The INtime Configuration Applet in the Windows Control Panel can be used to modify run time parameters in the INtime kernel and your development environment This appendix describes some of those parameters Figure 42 INtime Control Panel Applet b iime Configuration Pan a aae 2 e Double clicking an icon in the applet window starts the individual configuration application The Export Settings button can be used to save a configuration file from a reference machine that can then be applied to other machines i e for use on a production line using the mport Settings button The Export Settings button will export a single INtime configuration file for all applets that have been selected Tip Hold the Ctrl key down while clicking the left mouse button to highlight multiple configuration applets before exporting your INtime configuration file INtime for Windows Node Management Use this configuration applet to select the best kernel timer rate for your INtime application In the MultiThread example the fastest timer or alarm event we could specify was 500 microseconds because that is the default rate at which the INtime kernel is configured Changing the page 58 of 64 Copyright 2005 2014 TenAsys Corporation Kernel Clock Rate to 100 microseconds
25. ce is not restricted If more memory is required for INtime then the Exclude memory from Windows option limits the amount of memory that Windows can access at boot time and assigns the rest to INtime This mode may also be used when it is not possible to allocate enough memory because of pool fragmentation page 60 of 64 Copyright 2005 2014 TenAsys Corporation Stanaby Power Option and Hibernate Power Option specify whether or not INtime should prevent Windows XP from entering these power management states Allowing Windows to enter these states causes the INtime kernel to shut down Note These options are not available for Windows Vista and later because that functionality was removed from the Windows product Copyright 2005 2014 TenAsys Corporation page 61 of 64 INtime for Windows Device Manager Use this applet to allocate hardware device resources especially interrupts for use by an INtime kernel and your real time applications The applet presents a view of all hardware devices in the system similar to that presented by the Windows Device Manager To remove this device from Windows and make it available to the real time environment right click a device in the list of Windows devices and select Pass to INtime from the context menu Figure 45 Device Configuration Applet je ffe Acton Vien Hap isssacet amp yates dont us rx Passing a device to INtime re
26. ce the data mailbox we will reference in this thread was created in this process And modify the parameters accordingly in the line that gets the handle to the MY_MBOX_2 data mailbox Changes to ClientThread1 c void ETRreadi void RTHANDLE hPre RTHANDLE HDmbx char retMessage 128 int x 0 int yi 7 just pr and mailbox n TODO remove the next lines if the data mailbox ated in this pr _ hProcess LookupRtHandle hRootProcess DMBX_ OWNER WAIT_FOREVER Af Process BAD_RTHANDLE Fail Cannot find data mailbox process n WAIT_FOREVER Copyright 2005 2014 TenAsys Corporation page 29 of 64 hbmbx LookupRtHandle NULL RTHANDLE MY MBOX WAIT FOREVER Te hobs Faint Finally add code in the while loop to wait for the signal indicating that we should send a message to the Windows process We will assemble the message sent by including an incremented count value so each response message is unique while 1 1 BAD_RTHANDLE t find data mailbox J Topo put the RtSleep a RtSleep 1000 ReceiveRtData hMBOX Signal retMessage WAIT FOREVER n i SendRtData hDmbx test 5 y sprint retMessage ts 4 Msg revd xtt if SendRtData hDmbx retMessage y Fail Cannot send to data mailbox We are ready to build the application Choose Build Build Solution from the Visual Studio menu to c
27. d by name The thread names appear courtesy of the CatalogRtHandle calls we added to main The exact length of time associated with your trace and the order of the threads on the display may differ from the figure above The time it takes Pol Thread3 to run through the while 1 loop depends on the speed and configuration of your machine remember that all INtime print statements and other console I O functions go through Windows which affects some of the timing in this example program Scrolling left to right you will see that PolThread1 and PollThread2 execute at precise five and ten millisecond intervals but the timing of PollThread3 is variable Copyright 2005 2014 TenAsys Corporation page 53 of 64 Note INscope timestamps are derived from your processor s Time Stamp Counter TSC If your system has a variable speed clock such as a laptop with SpeedStep the timing measurements within INscope may be inconsistent For more information regarding this phenomenon visit the TenAsys Knowledge Base at www tenasys com When all real time threads are in an idle state the NT_TASK and WIN_EXEC_TSK threads run These threads represent Windows its drivers applications and the transfer of information between the INtime kernel and Windows In shared mode CPU cycles are allocated to Windows only when all real time processes are idle The exact set of Windows threads you observe with the INscope tool and the rate at which
28. data mailbox MY_MBOX_2 sends messages to the Windows process The client thread in ClientThread1 c sends messages to the Windows process via MY_MBOX _2 The code in MY_MBOX_2 c is only used to create that data mailbox In addition we will manually add a third data mailbox for inter thread communication Note This file and function structure is not necessarily the most efficient or elegant solution it is being used to quickly demonstrate the INtime architecture and the use of INtime wizards to generate template code Make the modifications shown below in bold to RTData c This file contains the real time process main function These modifications add a third data mailbox to coordinate receiving data from MY_MBOX_1 and sending data via MY_MBOX _2 The last lines added take control of the region object and release that control after thread initialization is complete Tip Open the electronic PDF version of this Guide and use the Adobe Acrobat Text Too to copy and paste these code fragments directly from the documentation into your Visual Studio project Changes to RTData c riab hRaot Pr dktickInUs BMBOX_Signal box and semaphore threads HMBOX_ Signal CreateRtMailbox DATA MAILBOX FIFO QUEUING BAD_RTHANDLE Do not forget to include a global declaration for the region object HMEOX Signal at the end of ATData Changes to RTData h Ta _RTHANDLE haat Pr
29. date depending on whether you want time kept in UTC or your local time zone Most PCs keep their clock in local time but you can adjust the battery clock to keep time in UTC Universal Coordinated Time or GMT page 12 of 64 Copyright 2005 2014 TenAsys Corporation Prompt Description Network configuration Interfaces detected by the installer appear Choose the default system interface used to connect to your development system DHCP Enter if you wish your network address to be assigned by your local DHCP server IP Address if DHCP not selected Enter an IPv4 address appropriate for your local network Netmask Enter an appropriate netmask for your local network Gateway May be left blank otherwise the address of the forwarding gateway for your local subnet Type hostname Should be a unique name recognizable among the devices on your network Host name may contain only the ASCII letters a through z in a case insensitive manner the digits 0 through 9 and the characters _ e Type Domainname May be left blank or choose your local internet domain name For example mydomain com Domain name has the same character restrictions as hostname Use to separate subdomain names SDK Configuration Enter the IP address or domain name for your development system This is used to connect your target to the development system during development to grant
30. exit 0 Iconvert message from ASCI to Unicode LPTSTR 1psz new TCHAR recv_buf_size 1 _toscpy ipsz recv_buf Update Edit box with value SetDlgItemText IDC_rxDATA 1psz UpdateData 2005 2014 TenAsys Corporation page 37 of 64 Copyright Running the Complete Solution 1 Start the INtime kernel 2 Open the INtime Explorer select the Local node and press OK INtex displays all processes running on the INtime kernel It also shows any mailboxes associated with those processes 3 Start NTXData exe within Visual Studio by pressing the F5 key Recall that NTXData automatically loads and starts RTData 4 After NTXData starts locate RTData in the INtex process tree remember to enable automatic refresh in the INtex options if you do not see RTData appear in the process list 5 Open the RTData process to see the data mailbox objects MY_MBOX_1 and MY_MBOX_2 and the INtime region object 6 Type something into the IDC_DATA Edit Control and click the Send Data button Your message displays in the RTData console window and the words Msg revd appears in the IDC_rxDATA Edit Control where corresponds to the message sequence number Figure 27 Running the Complete Solution TETE Roca 7 Mats saved ee Sees 7 Close NTXData by pressing either the OK or Cancel button RTData continues to run even though you closed NTXData because we did not include any code to stop ATData when NTXData
31. g the complete solution 1 Start both INtime nodes 2 _ Make sure that NodeA is selected in the INtime Properties for the RTData project and launch it from Visual Studio Click menu View Property Pages and then click NodeA Copyright 2005 2014 TenAsys Corporation page 45 of 64 Figure 33 Selecting Node within Visual Studio 2008 amp 2010 3 Ina second instance of Visual Studio open the RTSend project and set its target node to NodeB Launch the application 4 At the prompt type a message and observe the response when the message returns The text output to the Node and NodeB console ports should be identical to that when the example was running on same Node as shown above page 46 of 64 Copyright 2005 2014 TenAsys Corporation Example 4 The INscope Performance Analyzer Determinism is a key attribute of real time systems Speed is always a useful attribute to have in any embedded system but the ability to ensure the correct timing and sequence of events can be even more important This is a key difference between a real time system and a system that is simply fast The INscope performance analyzer is a software tool that provides you with precise information regarding the timing and sequence of real time events in a multi threaded application so you can measure the determinism of your real time process INscope traces events while your application runs in real time
32. here test object 2 Select View Toolbox or type Ctrl Alt X The Dialog Editor appears in the page 32 of 64 Copyright 2005 2014 TenAsys Corporation Figure 24 Dialog Editor in the Toolbox Footer EE Dialog Editor Check Bex Edit Control ombo Bex List Box BRIE alo gt Radio Button Sie Tet Horizontal Scroll Bar ple mle of Vertical Serei Bar 3 Add two Edit Control objects two Static Text objects and one Button object The figure below shows a layout for the controls in the NTXData dialog box Figure 25 NTXData Dialog Box ma skein cos Reese Cas rs 4 Modify the properties of each control as follows Right click each element to access Properties IDC_txDATA Send Data Default Button IDC_Editt IDC_Edit2 nf toc_pata to inc DATA Read Only True IDC_Static2 1DC_Static3 IDC_STDATA IDC_STRM Data to Send Reply Message Leave the OK and Cancel buttons as part of the dialog box You can use them to close the NTXData application 5 Save and build the solution Build Build Solution to make sure that it compiles without errors Copyright 2005 2014 TenAsys Corporation page 33 of 64 Editthe Code These steps add code to start the RTData rta process when NTXData exe starts using the INtime NTX API Changes to NTXDataDIg h 1 Open the NTXDataDig h header file 2 Adda include ntx n line a
33. his option to develop applications for INtime for Windows You can also select this option to develop INtime Distributed RTOS applications You will however have to ensure that you select the target node to develop and run the application on target system Locating your License keys Depending on the product you purchased the installation program may prompt you for a combined development license code CMBL You will find this license code on the license card that came with your software Note If you cannot locate your license card or license key please contact TenAsys directly Contact information is available at www tenasys com Copyright 2005 2014 TenAsys Corporation page 9 of 64 Figure 3 Entering License Codes Usor Information tn tong etrraton personae yout retin If you are installing a network licensed product the installation program prompts you to enter the address or name of the license server Contact your company s IT personnel or your INtime site coordinator for the license server information you will need to complete this licensing step After installation completes the installation program prompts you to reboot the system If you have a hardware key insert it before rebooting After the system reboots you can configure the INtime runtime environment and services For the purposes of this document the default configuration will suffice page 10 of 64 Copyright 2005 2014 TenAsys Corporation
34. iThread3 void DHORD dwPollThreadi DWORD dwPollThread2 module variables 19 Remember to include external declarations in the header file MultiThread h for the two global variables we added above extern DHORD dwPol1Thread1 extern DWORD dwPo1lThread2 20 To easily identify the three threads in our process from within INtime Explorer and INscope add their names to the MultiThread process object directory Add the following code to MultiThread c the file that contains main page 50 of 64 Copyright 2005 2014 TenAsys Corporation CatalogRtHandle NULL _RTHANDLE strInit hPollThread1 CatalogRtHandle NULL_RTHANDLE strInit hPollThread2 CatalogRtHandle NULL_RTHANDLE strInit hPollThread3 o11Thread1 indicate that initialization has finished strinit state INIT_DONE 21 PollThread1 c and PollThread2 c have nearly identical code Make the following modifications to each of these files and be sure the variable specified after the TODO line matches the thread number void Poll Thread void Heder _peaue printf PollThreadl started n tendis while 1 4 if tknWlaitForRtAlarmEvent hAlarnPollThreadl KN_WAIT_FOREVER Fail Cannot wait for alarm PollThreadi tifdet DEBUG 11 print PoliThreadl waking up n tendit Topo do what h 4 4dwpol1Thread1 to be done ry 5000 microseconds Note The code immediately following the wni1e 1 statement differs for each th
35. imeApps directory you created for the HelloWorld example 9 Select A full featured application from the INtime application wizard dialog and click OK 10 In the next dialog add a Thread that operates at a regular interval element 11 Change the Method for waiting parameter from Sleep to Low level Sleep change the Thread Priority from 170 to 160 and change the Number of microseconds to wait from 1000 to 5000 This creates PollThread as a thread that will start on a precise time interval of every five thousand microseconds every 5 milliseconds page 48 of 64 Copyright 2005 2014 TenAsys Corporation 12 Click on Thread that operates at a regular interval again Change the Method for waiting parameter from Sleep to Low level Sleep change the Thread Priority from 170 to 165 and leave the Number of microseconds to wait parameter set at 10000 Figure 35 Modifying Thread Parameters i pao Woda lt 4 Fes itroweTred 1 metos ova Cr CORRE En Thee ty fa Ranges 025 Sun ces n femal F x ow __ This sets up PollThread2 as a thread that will be started by the INtime scheduler at a precise time interval of every ten milliseconds 13 Choose Thread that operates at a regular interval a third time However this time specify the following parameters for the thread Method for waiting is Sleep Number of milliseconds to wait is 20 and Thread Priority is 170 Figure 3
36. indows crash blue screen or a Windows shutdown event and prevent Windows from completing its normal actions until the real time application has had a chance to perform a graceful shutdown page 64 of 64 Copyright 2005 2014 TenAsys Corporation
37. ived data in a Windows message box Semaphore and shared memory usage are also demonstrated PCAP Sample Application Illustrates the use of the PCAP library to filter specific Ethernet packets fram the network stack Realtime Interrupt Sample This application illustrates the use of real time interrupt system calls using the Transmitter Ready interrupt on COM1 A real time thread takes over COM1 and toggles its TransmitterReady interrupt COM is disabled when the test ends Make sure COM1 is available on your system before running this application When you run the application continuous activity occurs on the real time side preempting Windows for eight 10 second time periods RSL Examples Demonstrates the creation and use of real time Shared Libraries the INtime analog of Windows DLLs Serial Communications Sample This project demonstrates how to use the INtime Serial Communications library TCP Samples Demonstrates TCP communications between a client and a server Client and server code is provided for INtime and server code for Windows UDP Samples UDP ping pong sample application Datagrams are exchanged between INtime and Windows USB Keyboard Sample Client Demonstrates how to use the INtime USB subsystem by monitoring a USB keyboard and printing a dump of each keystroke as it occurs Windows STOP Detection Sample Shows how an INtime application can detect either a W
38. ke the following additions are shown in bold voia PollThread1 void int x figder _DERUG printf FollThreadi started n enait while 1 4 ReSleep 1000 figder _DERUG print Po11Th d1 waking up n tendis TODO do what has to be done every 1000 milliseconds Print HelloWorld 10 times for x 0 x lt 10 xt printf HelloWorld n 1 Make sure the build type is set to Debug go to the Build Configuration Manager menu or select on the menu bar and build the solution Build Build Solution The HelloWorld program compiles and links Copyright 2005 2014 TenAsys Corporation page 19 of 64 Stop and start the application from Visual Studio 1 INtime for Windows Start the NodeA application a Start the Node by clicking the hidden icon in the Windows Toolbar Click the INtime e icon Click on Start NodeA u amp aara CE INtime Distributed RTOS Make sure that the target is booted and tethered 2 Select the target node in INtime Properties a In Visual Studio 2008 amp 2010 select the INtime project icon in the Solution Explorer window as shown in Figure below and right click it b Select Properties from the window Figure 12 Selecting INtime Project LA Solution HelloWorld 1 project 2 HelloWorid HelloWorld GA Enteral Dependencies a E Header Files 1 HelloWorid h La Resource Files a D Source Files G HelloWorid e
39. me RTOS running on the same platform INtime for Windows offers a unique solution for developing embedded real time applications for the Microsoft Windows platform Your real time application can run in conjunction with Windows applications or as two independent applications running alongside each other Both configurations use Microsoft Visual Studio and the same TenAsys tools to create and debug INtime applications With INtime for Windows the INtime SDK typically resides on the same platform as the real time application being developed while in Ntime Distributed RTOS the INtime applications and the Windows based SDK run on separate platforms connected by Ethernet as shown in the next figures Copyright 2005 2014 TenAsys Corporation page 5 of 64 Figure 1 INtime for Windows configuration With Windows running the SDK and the INtime OS local node on the Same platform Figure 2 INtime Distributed RTOS configuration With Windows running the SDK and the INtime OS target node running on separate platforms 25 0 This guide familiarizes you with the INtime development tools You can find detailed technical information about the INtime software architecture kernel and APIs in the online help files and user manuals When running the examples in the INtime for Windows configuration setup Examples 1 2 and 4 can be performed in the default shared mode Windows and INtime sharing with a single core processor or in dedicated
40. meApps directory you created for the HelloWorld example Note It is important to name this project RTData exactly as shown above The name you specify is used as a real time process object identifier and is referenced in later code INtime object names are case sensitive 2 Choose A full featured application from the INtime Application Wizard and click OK leave C unchecked for this example 3 Add a Data mailbox element by selecting Mailbox or Semaphore Thread from the list of available elements Set the Type of object this thread waits at to Data mailbox in the options dialog 4 Type MY_MBOX_1 for the Catalog the object with this name field 5 Click OK to return to the elements setup dialog 6 Repeat the preceding three steps to add a second data mailbox but this time name it MY_MBOX 2 7 Click OK to return to the elements setup dialog 8 From the elements setup dialog add a Client Thread last element in the list 9 Check the Send to data mailbox item upper left leave all other items unchecked then click OK to return to the elements setup dialog Copyright 2005 2014 TenAsys Corporation page 27 of 64 10 Click Finish followed by OK The wizard automatically generates real time code templates The code generated by the above steps is only a starting point Modifications are required to turn this project into a running program Data mailbox MY_MBOX_1 receives messages from the Windows process and
41. ng upon rebooting by going to the INtime Congurator INtime Node Management left side window should show both two local nodes Figure 32 NodeA and NodeB are shown as local nodes Winches preety Ce EE My ROE Toner HAE terme INtime Distributed RTOS Setting up a second Node Open the INtime configuration panel and the Node Management applet as in the previous section This operation requires the Target system to have a multi core processor PSS 5 Re Select your node intimehost NodeA in this case and click Configure over internet A web browser appears Enter the password you assigned during installation Select the Nodes option from the bar page 44 of 64 Copyright 2005 2014 TenAsys Corporation INtime Host intimehost 172 16 40 20 Home system nodes contro sysiog License Logout Node management Care Name Sun Sein MO ET 0 Node 0400400000 7 vw Ru 1 Lu 2 a 5 laa Common memor med memory vos 2060 R Click the add link for one of the unused nodes accept the defaults and save Reboot your target Modifying RtData application Edit the project once more and in clientthread1 c change this line undef _MULTI_NODE_ to this define _MULTI_NODE_ This adds a sequence of code which prompts for a node name searches for it and discovers its root process handle Runnin
42. nistic Faster processors memory and peripherals improve the aggregate performance of a system but they generally do not directly affect the bounded determinism of a system The worst case response time to an Copyright 2005 2014 TenAsys Corporation page 47 of 64 event may not be significantly changed by using a faster processor increased speed can decrease the average jitter the spread and intensity of the variations in response to an event but it will not eliminate the worst case jitter Improving the performance or speed of a real time system is useful More performance allows one to increase the complexity of the algorithms that can be implemented in a given period of time i e within a sample interval or cycle Therefore the quality of the control and data acquisition system that one can implement in software is improved by using a faster system However bounded determinism is still needed to ensure that a stable and accurate system regardless of the performance level can be deployed A Multithreaded Example This example application will contain three alarm threads or fixed interval timing events Two will be set for the same priority level and the third will be set one priority level higher Tip Complete the HelloWorld example before performing this example to familiarize yourself with the INtime development system 1 Open Visual Studio 8 Create an INtime project called MultiThread and place it in the INt
43. ocess extern DWORD dukt ickInUsecs extern RTHANDLE HMBOX Signal page 28 of 64 Copyright 2005 2014 TenAsys Corporation Open MY_MBOX_1 c The Wizard generated code to create initialize and retrieve data from the mailbox We are adding code to print received data to a console window and signal to ClientThread that a reply message can be sent Changes to MY_MBOX_1 c TODO operate on bylimessage and dwActual Iprint the message received from the mail box printf This is the message ts n byMessage indicate that the message was received SendRtData hMBOX Signal go 3 Next open MY_MBOX_2 cand remove the lines in the white loop that wait for data to be received from the data mailbox in the code fragment below they are commented out In this example we use only this thread to initialize the data mailbox The Windows process receives from this data mailbox and the real time process sends through this data mailbox Add a line at the end of the while loop to suspend the thread Changes to MY_MBOX_2 c TT whetual ReceiveRtbata NV MBOX 2 byMessage WAIT FOREVER 77 if wactual 0 Wi Fail Receive from data mailbox MY MBOX 2 failed operate on byitnes and dwActual SuspendRt Thread Get REThreadiandles THIS_THREAD Finally open ClientThread1 c and add the vetMessage array that will build return messages Remove the lines used to look up the process handle sin
44. ompile and link Check the Debug folder in your ATData project directory and you should find an RTData rta file among others This is the real time process executable equivalent to a Windows EXE file Ignore any warnings regarding unreferenced local variables these are vestiges of code deleted in the edits above Creating the Windows Process When we create the Windows part of our application we need to setup the project environment so it includes NTX support Creating the Windows application takes a few steps Create the Project and Setup the Environment Note These instructions are specific to Visual Studio 2010 but should also work for 2008 1 Start Visual Studio 2 From the menu select File New Project 3 Within Visual C Projects open the MFC folder and select the MFC Application template 4 Specify NTXData as the project name and save the project to your INtimeApps folder page 30 of 64 Copyright 2005 2014 TenAsys Corporation Figure 21 Selecting the MFC Application Template i CL 5 Inthe MFC Application Wizard dialog box select Application Type on the left side of the dialog box 6 Within the Application Type options select Dialog based under Application type and Use MFC in a static library under Use of MFC Ensure that Use Unicode libraries is not selected If you wish to use Unicode libraries you should not use the _T function when passing text into f
45. our default browser Click the SDK Installation link at the bottom of the page The installation starts The installation procedure is similar to that of most standard Windows applications You are prompted to accept the INtime software license agreement and to supply one or more registration keys to complete the installation procedure Files are installed in the following locations page 8 of 64 Copyright 2005 2014 TenAsys Corporation Files Location INtime development PI Files INtime default tools and sample files rogrampleats iNtme default Sample projects My Documents INtime Projects for the user who installed INtime Configuration files AllUsersProfile Application Data TenAsys INtime Typically C Program Files INtime Make note of this directory so you can locate it again if you wish to inspect header files and other INtime system files On Windows versions after Windows XP the path is AllUsersProfile TenAsys INtime Two basic install options are provided e Development Tools Only This option installs only the SDK it does not install INtime for Windows runtime software Select this option to set up a development system for use with an INtime Distributed RTOS target The INtime Distributed RTOS components not are installed e Development Tools and Local nodes This option installs the SDK and the components required to configure and run local INtime node Select t
46. read as a function of the time interval and the sleep method specified when you used the wizard to generate the template code Also unlike the previous examples in this example remove or comment out the i der _DEBUG lines of code inside the while 1 statement we do not want the print statements to interfere with the output and timing of these threads 22 PollThread3 c contains more code than the prior two Make the following modifications to this file again make sure that the number specified in the putchar line matches the thread number void int 4 0 int x 0 figder _DEBUG printf PollThread3 started n tendis whi 1 2017 titde DEBUG Copyright 2005 2014 TenAsys Corporation page 51 of 64 7 printf Pol1Thread3 waking up i tendit do what has to be d 4 lt 10 itt putchar 0x0a for x 0 x lt 50 x putchar if dwPollThread1 gt 0 dwPollThread2 gt 0 printf L Ou 4 Ou dwPol1Threadl dwPol1Thread2 dyPollThread1 dwPollThread2 0 TE fort 3 1 The or loops in PollThread3 keep the thread alive so we can see pre emption using INScope PollThread and PollThread2 are at higher priorities than PollThread3 PollThread3 can run only when PollThread and PollThread2 are idle 23 Make sure the build type is set for Debug and compile the project Note Synchronization code to coordinate setting the values of the two global
47. rinted and stored in a retrieval system by any means mechanical or electronic without the written permission of the copyright owner October 2014 Edition Copyright 14 TenAsys Corporation 20141020 INtime 6 Quick Start Guide Contents Welcome Before You Begin Notational Conventions Requirements INtime SDK and INtime for Windows Requirements INtime Distributed RTOS Target Requirements SDK Installation Locating your License keys INtime Distributed RTOS Target Installation Example 4 The INtime Application Wizard HelloWorld Using the INtime Application Wizard Stop and start the application from Visual Studi Introducing the INtime Explorer Debugging HelloWorld with Visual Studio Example 2 Working Together Windows and Real time Two processes one application Creating the Real Time Process Creating the Windows Process Create the Project and Setup the Environment Creating a Graphical User Interface Edit the Code Running the Complete Solution EXAMPLE 3 Working with multiple INtime Nodes Creating the RtSend application Edit the code Running the solution Adding a second node INtime for Windows INtime Distributed RTOS Setting up a second Node Copyright 2005 2014 TenAsys Corporation page 1 of 64 Modifying RtData application Running the complete solution Example 4 The INscope Performance Analyzer How Fast is Deterministic
48. s system tray select NodeA Start NodeA Note that NodeA is the default name of the INtime kernel you can create other nodes with different names 2 Start INtime Explorer using its shortcut in the INtime program group 3 Select your node from the dialog box and click the OK button 4 Tum on the INtex automatic refresh This feature is useful when debugging a local INtime node c Select ViewlOptions on the INtex menu d Select the Refresh tab e Check the Enable refresh every box and set the interval for two seconds f Click OK page 22 of 64 Copyright 2005 2014 TenAsys Corporation Figure 15 Configuring INtime Explorer Options Rinse Oe Lie Pa en centre Wise E Ome 5 Load and run HelloWorld using one of these methods Click the second button on the INtex toolbar Select FilelLoad RT app 6 Navigate to the debug folder in your HelloWorld project directory and select the real time executable file HelloWorld rta 7 Click the Open button to load and start the real time process on the INtime kernel INtime for Windows A console window and the message HelloWorld appears ten times each second inside the console window Figure 16 HelloWorld Console Window RESTE gt INtime Distributed RTOS the output appears on the target system console Copyright 2005 2014 TenAsys Corporation page 23 of 64 Terminate the HelloWorld process by doing the following 1
49. sults in Windows no longer recognizing and loading a device driver for that hardware Your real time applications now have exclusive access to the interrupt and hardware registers of that device This process is needed to ensure that Windows drivers and applications do not interfere with your use of the device INtime includes support for MSI devices Message Signaled Interrupts If you have an MSI capable device you can pass it to INtime even if there is a potential legacy interrupt conflict with Windows by right clicking the device and selecting the Pass fo INtime using MSI page 62 of 64 Copyright 2005 2014 TenAsys Corporation B _INtime for Windows Sample Applications The following table describes the sample applications that are installed with the INtime system These can be found in the My Documents INtime Projects folder of the user who installed INtime on your system Sample Application Description Cand C Samples for The C program demonstrates several Debugger components of the C language available to real time applications as well as basic classes dynamic instantiation operator overloading and so on It also shows the libraries and startup modules needed Exception Handling Sample Includes a Windows and a real time portion The Windows portion allows the user to set up timing parameters that control haw often a real time thread will cause a hardware fault The application demonstrates how another
50. t the top of the file 3 Declarations for the real time handles must be marked as protected In the protected section of the class definition add declarations for the handles needed to locate the RTData process and access the data mailboxes NTXDataDIg h 4 header file Hinelude ntx h tpragna once inter removed for brevity Imples prot ICON m_hIcon The handles to the root processes RTData and mailboxes NIXHANDLE m Root Process NIXHANDLE m_TestNTXProce NIXHANDLE m RtMailbox 1 m_RtMailbox 2 HCURSOR OnQueryDragIcon ESSAGE MAP 1x Changes to NTXDataDIg ccp 4 Open NTXDataDIg cpp When NTXData exe starts it must load the RTData rta application Add the following initialization code to load and start the RTAData rta application in CNTXDat aD1g OnInitDialog BOOL CNTMDataDig OnInitDialog NTXHANDLE HNEx bRenoteApp cstring tmp intervening lines removed for brevity LI T000 Add extra initialization here taunch RTA Application First set the location of the node Typically you would want to use a browser page 34 of 64 Copyright 2005 2014 TenAsys Corporation to select from the available nodes For this example we will hard code the node to Local bNtx ntxGetLocationByName Local lcheck to see that the node is there if ntxGetRtStatus hNtx E_OK MessageBoxEx NULL _T RT Machine not present _T NIxDa
51. t will be used to send data between two processes NTXData exe a Windows process and ATData rta a real time process and to signal between two real time threads Together these two processes comprise a single INtime software application Figure 19 Basic INtime Solution Architecture Libraries Windows Transport kemel Driver mechanisn This data mailbox example is only one possible solution for sharing data between an INtime real time application and a Windows application other solutions might incorporate shared memory or exchanging semaphores between Windows processes and real time processes Tip To learn more locate the topic INtime System Description in the INtime Help page 26 of 64 Copyright 2005 2014 TenAsys Corporation Creating the Real Time Process First we will create RTData rta the real time process launched by NTXData exe The real time process sets up the mailboxes and waits for the Windows process to send a data message through the first mailbox After a message is received the real time process sends data back to the Windows process using the second mailbox The third mailbox is used for internal communication between real time threads within the real time process Figure 20 Data flow Windows Process Real time Process NIXData exe RTDaiarta MY MBOX1 6 43 ClientThreadl og 1 Open Visual Studio create a real time project called RTData and place it in the INti
52. ta AB_ICONERROR MB_OKCANCEL LANG ENGLISH exit 0 Now launch the RTData rta application hRamoteapp ntxCreateRtProcess HNEx _T C INtimenpps RTData Debug RTData rta NULL NULL NTX_PROC SHON_ PROGRESS if hRemoteApp NIX_BAD_NTXHANDLE tmp Cannot load file MessageBox tmp EndWaitCursor exit 0 return TRUE return TRUE unli ntrol Note If RTData rta is located some place other than C INtimeApps RTData Debug make the appropriate changes to your code see the directory name used in the code above The last change necessary to complete the application is in the code behind the Send Data button This code consists of a sequence of NTX API calls to retrieve handles for the real time root process the ATData process and the data mailboxes MY_MBOX_1 and MY_MBOX_2 The member variables defined in the NTXDataDlg h header file are used here to store those handles Once we have a handle to the data mailboxes we can send the text typed into the DC_ DATA Edit Control to the MY_MBOX_1 data mailbox using ntxSendRtData The last part of the function waits for a return message from RTData from the Copyright 2005 2014 TenAsys Corporation page 35 of 64 MY_MBOX_2 data mailbox using ntxReceiveRtData and displays the message returned in the IDC_rxDATA Edit Control 1 Inthe NTXData dialog resource double click the Send Data button This will create the empt
53. terface with hard drive with at least 32 MB of free space available e For initial installation the machine must be capable of booting from CD media an alternate method using a USB thumb drive is supported see the help file for further details Akeyboard is required for installation both PS 2 and USB types are supported e A supported network card is required for connection to the Windows development system See the Knowledge Base at www tenasys com support for updated list of supported network cards SDK Installation The following describes how to install the INtime development tools and kernel on your development platform Before you begin Make sure that your development platform meets the requirements listed in the Platform Requirements section above e Install Visual Studio Note If you install Visual Studio after installing INtime use the INtime Configuration Manager to add the INtime development tools to Visual Studio Make sure you are logged on with Administrator privileges e Ifyou plan to install a network licensed product get the address or name of the license server Contact your company s IT personnel for this information e Insert your USB license key if your product includes one Install the software Insert the INtime CD ROM A welcome dialog appears If the welcome dialog does not appear double click readme htm located in the root directory of the INtime CD ROM The file appears in y
54. terminates Use INtime Explorer to shut down the RTData process by right clicking the RTData process icon in the INtime Explorer window and selecting Delete from the context menu page 38 of 64 Copyright 2005 2014 TenAsys Corporation EXAMPLE 3 Working with multiple INtime Nodes Note To run this example in INtime for Windows the platform running the Windows and INtime SDK requires a processor supporting no less than three 3 hardware threads To run this example in INtime Distributed RTOS configuration setup the target system needs to support no less than two 2 hardware threads A key feature of INtime is the ability for processes to communicate with each other even when they run on different nodes This communication uses the same methods interaction with system objects as between two processes running on the same node In this example we will use the same RTdata rta application built in the previous example and create a new one RTSend rta to replace the ntxdata exe application We will use the same interface to the application but from an INtime application using the console The example goes through the following steps a Creating the RtSend process Running the processes RtData and RtSend on the same node Stopping the processes Setting up a second node INtime for Windows configuration Note This requires that the platform have a multicore processor with 4 or more hardware threads INtime
55. ting a new project Nero tates pen 4 Under Installed Templates a Select INtime Projects b Enter Hello World as the project name c Set the location path to the NtimeApps directory that you create above d Click Application Wizard The wizard dialog appears page 16 of 64 Copyright 2005 2014 TenAsys Corporation Figure 7 Creating a New INtime Project tenAsys tn ytuneaton tga matin of tine application do you wart to creste ners 5 Select A full featured application and leave the C box unchecked Note This tutorial does not use the INtime wizard s Hello World application because the features of this sample project will be more interesting 6 Click OK to continue The Add Elements dialog appears This is where you add elements to your real time process such as mailboxes semaphores and threads You can create these elements manually but using the INtime Wizard saves time and minimizes errors Figure 8 Selecting Process Elements Copyright 2005 2014 TenAsys Corporation page 17 of 64 7 Select Thread which operates at a regular interval from the list of real time process elements The element detail dialog appears Figure 9 Specifying Polling Thread Parameters DE 7 TES En et or nig pier renee woe po Ce anger 0 8 Keep the default settings for the polling thread so the thread will wake up every 1000 milliseconds
56. unctions requiring LPSTR Figure 22 MFC Application Type Selections ep nos opt pnsan E mime danner ras aies ste user onog eme asie Rare pra ECC tt ee 7 Click Finish The Wizard generates template code Before proceeding with the MFC code you must modify the project properties to include the NTX library and header files Note These instructions are specific to Visual Studio 2010 but should also work for 2008 and 2005 1 From the Visual Studio menu select Project NTXData Properties right click NTXData and select Properties Copyright 2005 2014 TenAsys Corporation page 31 of 64 2 On the property pages dialog choose All Configurations in the Configuration pull down 3 Inthe C C category of the property list select General and type S INTIME nt include in the Additional Include Directories field Keep Inherit from parent checked Figure 23 Specifying Additional Include Directories Cr nederdel opens le nd ein 2 4 Similarly in the General section of the Linker category type S INTIME ntllib in the Additional Library Directories field 5 Under the Input section of the Linker category type ntx it Additional Dependencies field 6 Click OK to save changes and close the property pages dialog Creating a Graphical User Interface The following steps create the GUI for the Windows process 1 Remove the TODO Place dialog controls
57. variables in PolThread and PollThread2 and reading and resetting those values in Pol Thread3is included for ease of instruction Trace the Threads With INScope 1 Start INtime Explorer 24 Using INtime Explorer start the MultiThread rta application The application s console window appears and all three threads start running Pollthread prints a series of dots in the console window followed by the number of times it was interrupted by the two higher priority threads PolThread and PollThread2 Figure 38 MultiThread Application Output Pee 7 Tes 25 Start INScope using its shortcut in the INtime programs group Start INtime INScope page 52 of 64 Copyright 2005 2014 TenAsys Corporation 26 The INScope Trace Control dialog box appears Click Nodes and select Node 27 While MultiThread rta is running click Start Trace 28 In a few moments the View Trace button appears indicating that the trace buffer is full Click the View Trace button The event trace for MultiThread appears in the INscope upper right pane Figure 39 INscope Event Trace ice Dione ms ees Was SES EIR SRE MEME MADn AAEE AA cad t 7 1 The left pane lists the INtime processes that were running on the kernel when the trace started and each of the threads running inside those processes The name of the MultiThread executable file appears along with the three polling threads also liste
58. w Figure 40 Zoomed Inscope Trace Ice Hope oe e 349 ws en CRE ET on ee FRE TRUST eme Let your mouse hover over one of the arrows on a C event and you can see itis the putchar function call made inside the PollThread3 while 1 loop An up arrow is a return from a prior putchar call and the down arrow is a new call into putchar Since a putchar call results in a transfer of data to the Windows side of the system it forces PollThread3 into an idle state Hovering over the A events shows similar information for PollThread and PollThread2 Right click an event arrow and select the Display Details item that appears and data regarding that event appears in the Event Info tab at the bottom of the screen Copyright 2005 2014 TenAsys Corporation page 55 of 64 An interesting and useful feature of INtime Explorer is the ability to suspend and resume threads on the fly Figure 41 Intex View of the Multithread App EEE Cr Q 5 tes LG roms G scram werner ce 2G na Sete sun feiss Sheng pty item pu el LE 1e ere 1 Right click the PollThread2 thread icon in the INtime Explorer process tree while MultiThread is running xpand the MultiThread process to see its individual threads 2 Select Suspend from the context menu 29 Note the change in the MultiThread console window The numbers at the end of each line of dots in the console window indicate
59. wing installation instructions assume you have an empty hard disk on which to install the INtime RTOS If your disk is already partitioned you must either delete your existing partition in step 4 before creating a new partition or you must create a second partition and activate that partition for booting 1 Create a bootable partition on the disk A From the initial menu select option 2 to modfiy the partition table and then option 2 to create a partition B Type 1 to create partition 1 Choose option 2 to create a FAT32 partition C Enter the partition limits Enter cylinder 0 for the start of the partition then reading the information above the menu select an ending cylinder number to create a partition of at least 100 Mbytes D Press Enter to return to the original menu E Select option 3 to activate make bootable your partition and select your partition number number 1 in the above example F Press Enter once more to return to the initial menu then Enter again to exit the utility following the prompts to save your new partition table 2 Format the partition Type y to start the format utility then enter yes to start the format operation Install the files Type y to unpack the INtime software files into your partition Set the default If the default does not apply follow the prompts to select time zone your time zone Set time and Adjusts the PC real time clock battery clock
60. would have allowed us to create threads that wake with 100 microsecond resolution Figure 43 Node Management Kernel Tab Wine Node Management a Frs re os as ls Free ere Capes Ey Following are some useful details regarding this applet Kemel Clock Rate specifies the number of microseconds that elapse between system clock interrupts The default is 500 with a range of 100 to 10 000 microseconds Round Robin Priority Threshold specifies the priority level at which threads will be scheduled to run using a round robin schedule The priority range is 128 to 254 Only threads with identical priorities that are at or below the Round Robin Priority Threshold are scheduled for round robin operation Note INtime priority levels are numbered from 0 to 254 where zero is the highest priority level in the system and 254 is the lowest Thus a priority level that is at or below the Round Robin Priority Threshold means a priority number equal to or higher than that specified as the Round Robin Priority Threshold Round Robin Time Slice specifies the time allocated for a round robin time slice Values range from 20 to 100 milliseconds in multiples of 10 milliseconds Spin Control Threshold and AutoLoad Spin Control scroll the Kernel Parameters screen down to locate these items specify the behavior of a special function of the INtime kernel that can be used to detect real time threads that may be running without pause In
61. y function into which we can add the code Get to the dialog resource by double clicking NTXData rc2 and a Window appears Expand NTXData re and double click IDD_NTXDATA_DIALOG Figure 26 Accessing the dialog resource screen 2 D radars Te ueon ape 5 Nostan int leon otsetee D MPa eect rect D xan inex PACEMAN ae int y Cheat pete Drandcon x y hice B NT ADeta re2 Soues Pies D NTXDta Gnome 2 a iData EI NODG ere Deeg Ed care 2 D0 asoursox D esdhent I moamoTa pavos een ting Tatie Gi veren 2 Go back to NTXDataDLg cpp by double clicking it and insert the following code inside the empty cwIxDat Dlg OnBnCLickect xdata function and build the solution after you finish editing the code Tip Open the electronic PDF version of this guide and use the Adobe Acrobat Text Tool to copy and paste these code fragments directly from the documentation into your Visual Studio project void CNTKDataD 1 char zt _my_mbx 1 char zt omy_mbx_2 OnBnClickedtxdata char xt_TestNTXData process NXHANDLE htx char send buf 128 char recv_buf 128 int recv_buf_size Get a handle to the local INtime node hNtx ntxGetLocationByName Local check to see that the INtime kernel is available A ntxGetRtStatus hNtx E OK MessageBoxEx NULL TC RT Machine not present Tr Nrxpata MB_ICONERROR MB_OKCANCEL LANG ENGLISH exit 0 page 36

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