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MR8C/4 V.1.00 User`s Manual (Real

1. 172 11 Note 11 1The Use of INT Instruction MR8C 4 has INT instruction interrupt numbers reserved for issuing service calls as listed in Table 11 1 Interrupt Number Assignment For this reason when using software interrupts in a user application do not use interrupt numbers 63 through 48 and be sure to use some other numbers Table 11 1 Interrupt Number Assignment Interrupt No Service calls Used 32 Service calls that can be issued from only task context 33 Service calls that can be issued from only non task context Service calls that can be issued from both task context and non task context 34 ret int service call 35 dis dsp service call 36 loc cpu iloc cpu service call 37 ext tsk service call 38 Reserved for future extension 39 Reserved for future extension 40 Reserved for future extension 11 2The Use of registers of bank The registers of bank is 0 when a task starts on MR8C 4 MR8C 4 does not change the registers of bank in processing kernel You must pay attention to the followings e Don t change the regisers of bank in processing a task e If an interrupt handler with regisers of bank 1 have multiple interrupts of an interrupt handler with regis ers of bank 1 the program can not execute normally 173 11 3Regarding Delay Dispatching MR8C 4 has four service calls related to delay dispatching e dis dsp e ena dsp e loc cpu e unl_cpu The followin
2. lt lt Example statement in assembly language gt gt include mr8c inc GLB task task ena dsp 112 sns ctx Reference context C Language API BOOL state sns ctx e Parameters None e Return Parameters BOOL state TRUE Non task context FALSE Task context Assembly language API include mr8c inc sns_ctx Parameters None Register contents after service call is issued Register name Content after service call is issued RO TRUE Non Task context FALSE Task context Error code None Functional description This service call returns TRUE when it is invoked from non task context or returns FALSE when invoked from task con text This service call can also be invoked from a CPU locked state Example program statement lt lt Example statement in C language gt gt include lt itron h gt include lt kernel h gt Hinclude kernel id h void task BOOL stat stat sns ctx lt lt Example statement in assembly language gt gt include mr8c inc GLB task task sns_ctx 113 sns loc Reference CPU state C Language API BOOL state sns_loc e Parameters None e Return Parameters BOOL state TRUE CPU locked state FALSE CPU unlocked state L Assembly language API include mr8c inc sns_loc e Parameters None Register contents after service call is issued Register name Content after service call is issu
3. ENDIF 159 160 IF NUM DTO 161 GLB init dro 162 JSR W init dtg 163 ENDIF 164 165 IF ALARM HANDLER 166 GLB _ init_alh 167 JSR W init alh 168 ENDIF 169 170 LE CYCLIC HANDLER 171 GLB __init_cyh 172 JSR W init cyh 173 ENDIF 174 175 For PD30 176 _ LAST INITIAL 177 178 END INIT T79 E 180 Start initial active task LOT op 5 Se See SSeS Sa ey SSeS Se aa ny eS 182 __START_TASK 183 184 glb __rdyq_ search 185 jmp W _ rdya search 186 VET A POP E AR E E AA E P P r B 188 Define Dummy LOOM A o pe ye kr PNE n Si Pl 190 glb SYS DMY INH 191 SYS DMY INH 192 reit 193 194 1F CUSTOM SYS END 195 ASADA S n EB ames Sue 196 Syscall exit rouitne to customize LY base em je ei a a 198 GLB _ sys end 199 sys end 200 Customize here 201 REIT 202 ENDIF 203 204 3 E 205 exit function 206 4 Bases she EE A Sa e hs Sree Seas 207 glb _exit exit 208 exit 209 Sexit 210 jmp exit 211 ZVZ SP esse ess Rise sie Sion SS Ris ise cise sle me 2135 System down routine 214 E See B ASS eo A ses 215 GLB __vsys_dwn 216 vsys_ dwn 217 JMP B _ vsys dwn 218 219 220 if USE TIMER 221 A E EE E P PED E PE 222 System clock interrupt handler DAD Eegeregie 224 SECTION MR_KERNEL CODE ALIGN 225 glb SYS STMR INH SYS TIMEOUT 226 glb DBG MODE SYS ISS 227 SYS STMR INH 228 process issue system
4. stack is located exinf Extended information H The ID number must be in the range of 1 to 255 The ID number can be omitted If omitted numbers are automatically assigned seguentially beginning with the smallest lt lt Content gt gt Define the following for each task ID number 143 f 1 Task ID name Definition format Symbol Definition range None Default value None Define the ID name of a task Note that the function name defined here is output to the kernel id h file as shown below define Task ID Name task ID 2 Start address of task Definition format Symbol or function name Definition range None Default value None Define the entry address of a task When written in the C language add at the end or at the beginning of the function name you have defined The function name defined here causes the following declaration statement to be output in the kernel id h file Hpragma TASK Function Name User stack size of task Definition format Numeric value Definition range 6 or more Default value 256 Define the user stack size for each task The user stack means a stack area used by each individual task MR8C 4 requires that a user stack area be allocated for each task which amount to at least 12 bytes Initial priority of task Definition format Numeric value Definition range 1 to maximum value of pri
5. 2 Use service calls loc cpu and unl cpu The interrupts that can be controlled by the loc cpu service call are only the kernel OS dependent interrupt Use method 1 to control the non kernel OS independent interrupts 33 3 7 Stacks 3 7 1 System Stack and User Stack The MR8C 4 provides two types of stacks system stack and user stack e User Stack One user stack is provided for each task Therefore when writing applications with the MR8C 4 it is necessary to furnish the stack area for each task e System Stack This stack is used within the MR8C 4 during service call processing When a service call is issued from a task the MR8C 4 switches the stack from the user stack to the system stack See Figure 3 24 The system stack use the interrupt stack ISP Task MR8C 4 service call User Stack Save Registers XXX_XXX Stack switching Service cal processing System Stack Task selection Stack switching Restore Registers User Stack Figure 3 24 System Stack and User Stack Switchover from user stack to system stack occurs when an interrupt of vector numbers 0 to 31 or 247 to 255 is generated Consequently all stacks used by the interrupt handler are the system stack 34 4 Kernel 4 1 Module Structure The MR8C 4 kernel consists of the modules shown in Figure 4 1 Each of these modules is composed of functions that ex ercise individual module features The MR
6. 21 Figure 3 17 Ready Queue Execution QUEUE A 24 Figure 3 18 Waiting queue of the TA TFIFO attribute AA 25 Figure 3 19 Task control Bl OC nati Ed NENNEN dd EE ENER 27 Figure 3 20 Cyclic Handler Alarm Handler Activation ooconiccnicnnnnnnnnnononroncanccrcrecerrr rr 29 Figure 3 21 Interrupt handler CEET 31 Figure 3 22 Interrupt control in a Service Call that can be Issued from only a TASK AA 32 Figure 3 23 Interrupt control in a Service Call that can be Issued from a Task independent 33 Figure 3 24 System Stack and User Stace ermita ig 34 Figure 4 1 M REC 4 ele EE old 35 Figure4 NK d Le MEET 37 Figure 4 3 Alteration of task Gorloritwv ENEE 38 Figure 4 4 Wakeup Request Gtorage AANEREN ENEE EEE AK KEE KE EK RE KE PREH 39 Figure 4 5 Wakeup Request Cancellattom E 39 Figure 4 6 Forcible wait of a task and resume ENEE 40 Figure4 dl tsk servi EE 41 Figure 4 8 Exclusive Control by Gemaphbore 4 2 eter eee eee eee eee ener ne Knee KKK KAR KEE AE REK K EEE KEE KEE K KE K RKK 42 Figure4 9 Semaphore Counter EE EE 42 Figure 4 10 Task Execution Control by SGemapbore AAA 43 Figure 4 11 Task Execution Control by hetventtflag AAA 44 Figure 412 Data QUES EE 46 Figure 4 13 Cyclic handler operation in cases where the activation phase is SAVE 48 Figure 4 14 Cyclic handler operation in cases where the activation phase is NOt Save 48 Figure 4 15 Typical operation of the alarm
7. Return Parameters ER ercd Terminated normally E OK Assembly language API include mr8c inc clr flg FLGID CLRPTN e Parameters FLGID ID number of the eventflag to be cleared CLRPTN Bit pattern to be cleared e Register contents after service call is issued Register name Content after service call is issued RO Error code A0 ID number of the eventflag to be cleared R3 Bit pattern to be cleared Error code None Functional description Of the 16 bit eventflag indicated by flgid this service call clears the bits whose corresponding values in clrptn are 0 In other words the eventflag bit pattern indicated by flgid is updated by AND ing it with clrptn If all bits specified in clrptn are 1 no operation will be performed for the target eventflag in which case no errors are assumed however This service call can only be issued from task context and cannot be issued from non task context 85 Example program statement lt lt Example statement in C language gt gt include lt itron h gt include lt kernel h gt include kernel id h void task void clr flg ID flg FLGPTN 0xf0 0 lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM AO R3 clr flg ID_FLG1 0 0f 0H 86 wai flg Wait for eventflag pol_flg Wait for eventflag polling C Language API ER ercd wai flg ID flgid FLGPTN waiptn MODI ER ercd pol flg
8. Task definition liada Eventflag definition U N ESemaphore definition arta EE Data queue definition EH CE ydie handler definition iii ata Alarm handler definition A Chnterrupt Vector definition larisa 8 1 3 Configuration File Example xag aiaa aet a iaaa anda aa ea aaa Gaa a RE 8 2 Configurator Execution Procedures 4 eeeeeeeeee eee 000000 n cnn nr 8 2 1 Configurator ODverven eee ee eee eee eee eee rr 8 2 2 Setting Configurator Environment 2 2 2 eee eee eee cn nn cnn cren 8 23 Configurator Start Procechure 2 22 eee eee eee eee een crac E Re S AAEE aTa ENE EA Ta EA TEE EEA E Ea tenes Warning MESSAGES RENE dadeau KRK EKK EKK ROGER EGER daia aeie iabea ahaide iii 9 Sample Program Descripti0n eeeeeeeeeeeee eee eee nenene n ena KKK K KKK KKK KARA K Nanaia Naaa inasi 9 1 Overview of Sample Pro am 9 2 lee e Ee lee Lee EE 93 Configuration UE 10 Stack Size Calculation Method EEN 10 1 Stack Size Calculation Metho0d ccoooccccnonoconccnononnnonononnncnononnncnnnnnnncnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnncannnnncanns 10 1 1 User Stack Calculation Methan 10 1 2 System Stack Calculation Method 2 eee eee eee ee eee eee rc 10 2 Necessary Shack Size A e A W NN ILI The Use ofl NT TASU Osi aa A A Aa 11 2 TheUseof registers of bank oncoonccinncincnninnccncnnccnnnrnncrnn creer 11 3 Regarding Delay Dispatching 12 11 4 Regard
9. The priority assigned to the task has been changed by chg pri service call so that the priority of another READY task is rendered higher When any of the above conditions occurs rescheduling takes place so that the task having the highest priority among those in the RUNNING or READY state is placed in the RUNNING state and the execution of that task starts 2 READY state The READY state refers to the situation in which the task that meets the task execution conditions is still waiting for execution because a different task having a higher priority is currently being executed When any of the following conditions occurs the READY task that can be executed second according to the ready queue is placed in the RUNNING state Acurrently executed task has normally terminated itself by ext_tsk service call Acurrently executed task has placed itself in the WAITING state A currently executed task has changed its own priority by chg pri service call so that the priority of S By issuing dly tsk slp tsk wai flg wai sem end do and rov dtg service call 10 Depends on dly_tsk slp_tsk wai flg wai sem snd dig and rev dtg service call BEE a different READY task is rendered higher Due to interruption or other event occurrence the priority of a currently executed task has been changed so that the priority of a different READY task is rendered higher 3 WAITING state When a task in the RUNNING state reguests to be placed in
10. include mr8c inc sus tsk TSKID e Parameters TSKID ID number of the target task Register contents after service call is issued Register name Content after service call is issued RO Error code A0 ID number of the target task Error code E_OBJ Object status invalid task indicated by tskid is an inactive state E_QOVR Queuing overflow Functional description This service call aborts execution of the task indicated by tskid and places it into SUSPENDED state Tasks are resumed from this SUSPENDED state by the rsm_tsk service call If the task indicated by tskid is in DORMANT state it returns the error code E_OBJ as a return value for the service call The maximum number of suspension requests by this service call that can be nested is 1 If this service call is issued to a task which is already in SUSPENDED state the error code E OOVR is returned This service call forbids specifying the issuing task itself for tskid This service call can only be issued from task context and cannot be issued from non task context 71 Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task if sus tsk ID main E OK printf Can t suspend task main n lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM A0 sus tsk KID TASK2 72 rsm tsk R
11. 1 User s Manual Organization e eeeeeeeee eee eee eee ee eee KKK a KKK KKK E KKK ASAMA AKA R RAKA EEan KKK Kn 1 2 General dt ge Cd VE 3 2 1 Objective of MR8C 4 Development AA 3 2 2 Relationship between TRON Specification and MR8CZ4 2 2 ee eee eee nenene 5 23 OU Sii dd A dC O E 6 3 Introduction CO EE 7 3 1 e e e Zelle WEE Ce KC 7 3 1 1 Why Real time OS is Necessary eee cee cec cece eeeeeeeeeeeeeeeeeeteeeteeeeeaeesacesaaeeaaeeaaeesaeesaaeeaaeseaeeeaeenaeeeas 7 3 1 2 Operating Principles of Keng 10 3 2 Service EE 13 3 2 1 Service Call Processing ee eeee eee eee eee nenene KaK KA AKA KKK KKK KKK K A KARA RKK 14 3 2 2 Processing Procedures for Service Calls from Handlers eee 15 Service Calls from a Handler That Caused an Interrupt during Task Execution eee een 16 Service Calls from a Handler That Caused an Interrupt during Service Call Processing esecsceernrn 17 Service Calls from a Handler That Caused an Interrupt during Handler Evecution eee 18 33 ODE EE 19 3 3 1 The specification method of the object in a service call ssssssssssissrssrssrrsrisrrssinrissrnsnsrnenns 19 BiG MASK TEE 20 SC E ee EE 20 3 42 Task Priority and Ready Queue u eee eee eee eee ne nK KaK KA P A KR AAR K KKK 24 3 43 Task Priority and WaitingOueue 2 2 2 eee eee eee eee ee eee eee een ena K nennt ns 25 3 44 Task Control B
12. Context size of registers written as task context in cfg file 4 PC F LG bvtes Figure 10 5 Stack size to be used by Kernel Interrupt Handler 170 System stack size y used by system clock interrupt handler When you do not use a system timer there is no need to add a system stack used by the system clock interrupt handler The system stack size y used by the system clock interrupt handler is whichever larger of the two cases below 24 maximum size used by cyclic handler 24 maximum size used by alarm handler 4 C language Using the stack caliculation utility calculate the stack size of each Alarm or Cyclic handler Assembly language The stack size to be used by Alarm or Cyclic handler register to be used user size stack size to be used by service call If neither cyclic handler nor alarm handler is used then y 14bytes When using the interrupt handler and system clock interrupt handler in combination add the stack sizes used by both 171 10 2Necessary Stack Size Table 10 1 Stack Sizes Used by Service Calls Issued from Tasks in bytes lists the stack sizes system stack used by service calls that can be issued from tasks Table 10 1 Stack Sizes Used by Service Calls Issued from Tasks in bytes Service call Stack size Service call Stack size User stack System User stack System stack stack sta tsk 0 2 sta cyc 10
13. Error code E OOVR Oueuing overflow Functional description This service call releases one resource to the semaphore indicated by semid If tasks are engueued in a waiting gueue for the target semaphore the task at the top of the gueue is placed into READY state Conversely if no tasks are enqueued in that waiting queue the semaphore resource count is incremented by 1 If an attempt is made to return resources sig sem or isig sem service call causing the semaphore resource count value to ex ceed the maximum value specified in a configuration file maxsem the error code E OOVR is returned to the service call issuing task with the semaphore count value left intact If this service call is to be issued from task context use sig sem if issued from non task context use isig sem 78 Example program statement lt lt Example statement in C language gt gt include lt itron h gt include lt kernel h gt include kernel id h void task if sig sem ID sem E OOVR error Overflow n lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM A0 sig sem ID_ SEM2 79 wai sem Acguire semaphore resource pol sem Acguire semaphore resource polling C Language API ER ercd wai sem ID semid H ER ercd pol sem ID semid e Parameters ID semid Semaphore ID number to be acguired e Return Parameters ER ercd Termina
14. S Standard profile service calls B Basic profile service calls e Each sign within System State is a following meaning T Can be called from task context N Can be called from non task context E Can be called from dispatch enabled state D Can be called from dispatch disabled state U Can be called from CPU unlocked state L Can be called from CPU locked state 82 set flg Set eventflag iset flg Set eventflag handler only C Language API ER ercd set flg ID flgid FLGPTN setptn ER ercd iset flg ID flgid FLGPTN setptn e Parameters ID flgid ID number of the eventflag to be set FLGPTN setptn Bit pattern to be set Return Parameters ER ercd Terminated normally E OK Assembly language API include mr8c inc set flg FLGID SETPTN iset flg FLGID SETPTN Parameters FLGID ID number of the eventflag to be set SETPTN Bit pattern to be set e Register contents after service call is issued Register name Content after service call is issued RO Error code R3 Bit pattern to be set A0 Eventflag ID number Error code None Functional description Of the 16 bit eventflag indicated by flgid this service call sets the bits indicated by setptn In other words the value of the eventflag indicated by flgid is OR d with setptn If the alteration of the eventflag value results in task awaking conditions for a task that has been kept waiting for the even
15. amp Communication Function Semaphore coocnnccccoccccnoconinncnnnonnnconnnnonnnnannncnnnnnos 77 sig sem Release semapborereeource nr EASE EN KK ESE ena nennen 78 isig_sem Release semaphore resource handler only oooooonccoccnnncconcconcconcconacononcnannnannnarnna rana 78 wai_sem Acquire semaphore Tresor 80 pol sem Acquire semaphore resource polling e 2 eee eeee2eeeeeeeee eee nr cra nan ee nenene nn 80 5 4 Synchronization amp Communication Function Eventflao 82 set flg Setenta at o ded ae 83 iset_flg Set eventflag handler ov 83 Clr le eg ue UL EE EE 85 wai_flg Wait for oventflag s ee eee eee eee eee nenene ne KE KK K A KKK EKK ALK KKK K EEK KE R KE KA KK RK 87 pol flg Wait for eventflaoipcllimno eee eee eee eee ee eee nana cnc 87 5 5 Synchronization amp Communication Function DataOueuel lt lt lt lt lt lt lt errrrs 90 snd dro Send to data queue ANEREN 91 psnd_dtq Send to data queue pOlliMO ooonocincnnnnnninnnnnnnconnccnccnonannccnnnc nn nccnnn cnn cnn cancer 91 ipsnd dro Send to data queue polling handler only 91 rov dtq Receive from dataoueie cnn nr rn 93 prcv_dtq Receive from data queue POLLING cece cet eeeeceeeeeeeeeeeeteeeeeeeeteeeseeeseeeeeaeesaaeeaaeeaaeenaeseaeeea 93 5 6 Time Management F UNCON eeceeceeeeeeeee eee cece eae eee eee ee rr 96 isig timy Supply atime tK EE 97 5 7 Time Management Function C
16. better and more reliable but there is always the possibility that trouble may occur with them Trouble with semiconductors may lead to personal injury fire or property damage Remember to give due consideration to safety when making your circuit designs with appro priate measures such as i placement of substitutive auxiliary circuits ii use of nonflammable material or iii prevention against any malfunction or mishap Notes regarding these materials e These materials are intended as a reference to assist our customers in the selection of the Renesas Technology product best suited to the customer s application they do not convey any license under any intellectual property rights or any other rights belonging to Renesas Technology Corporation Renesas Solutions Corporation or a third party Renesas Technology Corporation and Renesas Solutions Corporation assume no responsibility for any damage or infringement of any third party s rights originating in the use of any product data diagrams charts programs algorithms or circuit application exam ples contained in these materials e All information contained in these materials including product data diagrams charts programs and algorithms represents information on products at the time of publication of these materials and are subject to change by Renesas Technology Corporation and Rene sas Solutions Corporation without notice due to product improvements or other reasons It is theref
17. include lt itron h gt include lt kernel h gt include kernel id h void inthand void process Figure 7 4 Example of Non kernel OS independent Interrupt Handler 7 1 4 Writing Cyclic Handler Alarm Handler When describing the cyclic or alarm handler in C language observe the following precautions 2 A configuration file is used to define the relationship between handlers and functions 27 When an kernel OS dependent interrupt handler is declared with pragma INTHANDLER code for the ret int service call is automati cally generated If you want the non kernel OS independent interrupt handler to be assigned a priority level lower than kernel OS dependent interrupt handlers change the description of the non kernel OS independent interrupt handler to that of the kernel OS dependent interrupt handler 125 1 Describe the cyclic or alarm handler as a function 2 Be sure to declare the return value and argument of the interrupt handler start function as a void type 3 At the beginning of file be sure to include itron h kernel h which is in the system di rectory as well as kernel_id h which is in the current directory The static declared functions cannot be registered as a cyclic handler or alarm handler The cyclic handler and alarm handler are invoked by a subroutine call from a system clock interrupt handler include lt itron h gt include lt kernel h gt include ker
18. lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task stp alm ID alml lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM A0 stp alm fID ALM1 104 5 9 System Status Management Function Table 5 16 List of System Status Management Function Service Call Notes e S Standard profile service calls No Service Call Function System State TN E D U L 3 get tid S B References task ID in the O olojo RUNNING state 5 loc_cpu S B Locks the CPU O O O0 0 0 7 unl cpu S B Unlocks the CPU O O 0 0 0 9 dis dsp S B Disables dispatching O O JO O 10 ena_dsp S B Enables dispatching O O 0 O 11 sns_ctx S References context OJO JO JO O O 12 sns_loc S References CPU state OJOJO JO O O 13 sns_dsp S References dispatching state O O O O O O B Basic profile service calls e Each sign within System State is a following meaning T Can be called from task context N Can be called from non task context E Can be called from dispatch enabled state D Can be called from dispatch disabled state U Can be called from CPU unlocked state L Can be called from CPU locked state 4 4 4 105 get tid Reference task ID in the RUNNING state C Language API ER er
19. lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM A0 rsm tsk KID TASK2 74 dly tsk Delay task C Language API ER ercd dly_tsk RELTIM dlytim e Parameters RELTIM dlytim Delay time e Return Parameters ER ercd Terminated normally E OK or error code Assembly language API include mr8c inc dly tsk RELTIM e Parameters RELTIM Delay time Register contents after service call is issued Register name Content after service call is issued RO Error code R1 Delay time 16 low order bits R3 Delay time 16 high order bits Error code E_RLWAI Forced release from waiting Functional description This service call temporarily stops execution of the issuing task itself for a duration of time specified by dlytim to place the task from RUNNING state into WAITING state In this case the task is released from the WAITING state at the first time tick after the time specified by dlytim has elapsed Therefore if specified dlytim 0 the task is placed into WAITING state briefly and then released from the WAITING state at the first time tick The task placed into WAITING state by invocation of this service call is released from the WAITING state in the following cases Note that when released from WAITING state the task that issued the service call is removed from the timeout waiting gueue and linked to a ready gueue When the first time tick occurred
20. the READY task designated by the service call or the currently executed task enters the SUSPENDED state If a task in the WAITING state is placed in this situation it goes into the WAITING SUSPENDED state The SUSPENDED state is the condition in which a READY task or currently executed task is excluded from scheduling to halt processing due to I O or other error occurrence That is when the suspend request is made to a READY task that task is excluded from the execution queue Note that no queue is formed for the suspend request Therefore the suspend request can only be made to the tasks in the RUNNING READY or WAITING state If the suspend request is made to a task in the SUS PENDED state an error code is returned 5 WAITING SUSPENDED If a suspend request is issued to a task currently in a WAITING state the task goes to a WAITING SUSPENDED state If a suspend request is issued to a task that has been placed into a WAITING state for a wait request by the slp tsk wai_flg wat sem and dtg or rcv_dtq service call the task goes to a WAITING SUSPENDED state When the wait condition for a task in the WAITING SUSPENDED state is cleared that task goes into the SUS PENDED state It is conceivable that the wait condition may be cleared when any of the following conditions occurs The task wakes up upon wup_tsk or iwup_tsk service call issuance The task placed in the WAITING state by the dly_tsk service call wakes up after the
21. 1 Semaphore ID 1 255 2 Maximum number of resources 1 65535 3 Semaphore attribute TA_FIFO Tasks enqueued in order of FIFO Table 5 6 List of Semaphore Function Service Call No Service Call Function System State T N E D U L 1 sig_sem S B Releases semaphore O O O O 2 1sig sem S B resource O O O O 3 wai_sem S B Acguires semaphore O O O resource 4 pol_sem SIB Acquires semaphore O O O O resource polling Notes e S Standard profile service calls B Basic profile service calls e Each sign within System State is a following meaning T Can be called from task context N Can be called from non task context E Can be called from dispatch enabled state D Can be called from dispatch disabled state U Can be called from CPU unlocked state L Can be called from CPU locked state hd 4 77 sig sem Release semaphore resource isig sem Release semaphore resource handler only C Language API ER ercd sig sem ID semid ER ercd isig semi ID semid e Parameters ID semid Semaphore ID number to which returned e Return Parameters ER ercd Terminated normally E OK or error code Assembly language API include mr8c inc sig sem SEMID isig sem SEMID Parameters SEMID Semaphore ID number to which returned Register contents after service call is issued Register name Content after service call is issued RO Error code A0 Semaphore ID number to which returned
22. 1 Specifications of the Task Management Function No Item Content 1 Task ID 1 255 2 Task priority 1 255 3 Maximum number of activation reguest count 15 TA HLNG Tasks written in high level language 4 Task attribute TA ASM Tasks written in as sem bly language TA ACT Startup attribute 5 Task stack Section specifiable Table 5 2 List of Task Management Function Service Call No Service Call Function System State T NI E D U L 1 sta_tsk B Starts task and specifies start code O O O O 2 ista_tsk O JO O O 3 ext tsk S B Exits current task O OJOJjO O 4 ter_tsk S B Forcibly terminates a task O oloo 5 che pri S B Changes task priority O olojo Notes e S Standard profile service calls B Basic profile service calls e Each sign within System State is a following meaning T Can be called from task context N Can be called from non task context E Can be called from dispatch enabled state D Can be called from dispatch disabled state U Can be called from CPU unlocked state L Can be called from CPU locked state 53 sta tsk Activate task with a start code ista tsk Activate task with a start code handler only C Language API ER ercd sta tsk ID tskid VP INT stacd ER ercd ista tsk ID tskid VP INT stacd Parameters ID tskid ID number of the
23. ID flgid FLGPTN waiptn MODI e Parameters wfmode FLGPTN p flgptn wfmode FLGPTN p flgptn Di u r r ID flgid ID number of the eventflag waited for FLGPTN waiptn Wait bit pattern MODE wfmode Wait mode FLGPTN p_flgptn Pointer to the area to which bit pattern is returned when released from wait e Return Parameters ER ercd Terminated normally E_OK or error code FLGPTN p_flgptn Pointer to the area to which bit pattern is returned when released from wait Assembly language API include mr8c inc wai flg FLGID WAIPTN WFMODE pol_flg FLGID WAIPTN WFMODE e Parameters FLGID ID number of the eventflag waited for WAIPTN Wait bit pattern WFMODE Wait mode e Register contents after service call is issued Register name Content after service call is issued RO Error code R1 Wait mode R2 bit pattern is returned when released from wait R3 Wait bit pattern A0 ID number of the eventflag waited for Error code E RLWAI Forced release from waiting E TMOUT Polling failure E ILUSE Service call improperly used Tasks present waiting for TA WSGL attribute eventflag 87 Functional description This service call waits until the eventflag indicated by flgid has its bits specified by waiptn set according to task awaking conditions indicated by wfmode Returned to the area pointed to by p_flgptn is the eventflag bit pattern at the time the task is released fr
24. Specify the TA STA attribute of the cyclic handler If ON is selected the TA STA attribute is added if OFF is selected the TA STA attribute is not added TA PHS attribute Definition format Symbol Definition range ON or OFF Default value OFF Specify the TA PHS attribute of the cyclic handler If ON is selected the TA PHS attribute is added if OFF is selected the TA PHS attribute is not added 149 5 Activation phase Definition format Numeric value Definition range 0 to Ox7FFFFFFF Default value None Define the activation phase of the cyclic handler The time representing this startup phase must be defined in ms units 6 Start Address Definition format Symbol or Function Name Definition range None Default value None Define the start address of the cyclic handler Note that the function name defined here will have the declaration statement shown below output to the ker nel id h file pragma CYCHANDLER function name 7 Extended information Definition format Numeric value Definition range 0 to OxFFFF Default value 0 Define the extended information of the cyclic handler This information is passed as argument to the cyclic han dler when it starts 150 Alarm handler definition This definition is necessary to use Alarm handler function lt lt Format gt gt Alarm Handlar Definition alarm hand ID No
25. aeia auraa aiea arkaan ea daaa eaaa ees ee a ARI dot 7 1 Program Coding Procedure in C Language 22 2 eee eee eee ee eee eee nn crac nenene ent 7 11 Task Description Procedure e eee 4220200000000 cn 7 1 2 Writing a Kernel OS Dependent Interrupt Handler AAA 7 13 Writing Non kernel OS independent Interrupt Handler AA 7 14 Writing Cyclic Handler Alarm H ander 7 2 ProoramCodingbrocechureinAseertlvl anoua0ge cnn cnn arrancan TZL WENO Task ita o ata a 7 2 2 Writing Kernel OS dependent Interrupt Handler 7 23 Writing Non kernel OS independent Interrupt Handler AAA 7 2 4 Writing Cyclic Handler Alarm H ander 7 3 Modifying MR8C 4 Startup Program 7 3 1 C Language Startup Program crt Omr a20 eee eee eee eee eee eee eee nenene ZA Memory A ocatiON ii EEN eege See eee Ea 7 4 1 Section Allocation of start a20 2 24 ee2ee2e eee e0e eee eee eee nenene rre 7 4 2 Section Allocation of tim a20 2 222 eee eee eee eee eee nene teen tee Kenta tn annann 8 U sing ConfiguratOr R O O O Edito 8 1 Configuration File Creation Procechure ee eee eee eee eee eee ete ete nn nn nan KaK KARA 8 11 Configuration File Data Entry F OrMAL 22 2 22 eeeeeeeeeee eee eee eee eee eee rr 0101 EE EE Direction of computati EE 8 1 2 Configuration File Definition Ireme 2 2 2 4e2eeeeee eee eee eee eee een narrar System Definition Procedure Dusan in a ll v ad kakaa TEE System Clock Definition Procedure 1
26. after dlytim elapsed The error code returned in this case is E OK When the rel wai or irel wai service call is issued before dlytim elapses The error code returned in this case is E RLWAI Note that even when the wup_tsk or iwup_tsk service call is issued during the delay time the task is not released from WAITNG state The delay time dlytim is expressed in ms units Therefore if specified as dly tsk 50 the issuing task is placed from RUNNING state into a delayed wait state for a period of 50 ms The values specified for dlytim must be within Ox7fffffff time tick If any value exceeding this limit is specified the ser vice call may not operate correctly This service call can be issued only from task context It cannot be issued from non task context 75 Example program statement lt lt Example statement in C language gt gt include lt itron h gt include lt kernel h gt include kernel id h void task if dly tsk E OK error Forced wakeup n lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM R1 R3 dly_tsk 500 76 5 3 Synchronization amp Communication Function Semaphore Specifications of the semaphore function of MR8C 4 are listed in Table 5 5 Table 5 5 Specifications of the Semaphore Function No Item Content
27. are presented below 16MHz 8 1234MHz It is also well to remember that the frequency must not begin with period 140 8 1 2 Configuration File Definition Items 6 The following definitions are to be formulated in the configuration file e System definition e System clock definition e Task definition e Eventflag definition e Semaphore definition e Data queue definition e Cyclic handler definition e Alarm handler definition e Interrupt vector definition System Definition Procedure lt lt Format gt gt System Definition system stack size System stack size priority Maximum value of priority system IPL Kernel mask level OS interrupt disable level tic deno Time tick denominator tic nume Time tick numerator lt lt Content gt gt W 1 System stack size Definition format Numeric value Definition range 4 to OxFFFF Default value 400H Define the total stack size used in service call and interrupt processing 2 Maximum value of priority value of lowest priority Definition format Numeric value Definition range 1 to 255 Default value 63 Define the maximum value of priority used in MR8C 4 s application programs This must be the value of the highest priority used 3 S All items except task definition can omitted If omitted definitions in the default configuration file are refe
28. be called from dispatch enabled state D Can be called from dispatch disabled state U Can be called from CPU unlocked state L Can be called from CPU locked state 101 sta alm Start alarm handler operation C Language API ER ercd sta alm ID almid RELTIM almtim Parameters ID almid ID number of the alarm handler to be operated RELTIM almtim Alarm handler startup time relative time Return Parameters ER ercd Terminated normally E OK Assembly language API include mr8c inc sta alm ALMID ALMTIM e Parameters ALMID ID number of the alarm handler to be operated ALMTIM Alarm handler startup time relative time e Register contents after service call is issued Register name Content after service call is issued RO Error code RI Alarm handler startup time relative time A0 ID number of the alarm handler to be operated Error code None Functional description This service call sets the activation time of the alarm handler indicated by almid as a relative time of day after the lapse of the time specified by almtim from the time at which it is invoked and places the alarm handler into an operational state If an already operating alarm handler is specified the previously set activation time is cleared and updated to a new activa tion time If almtim 0 is specified the alarm handler starts at the next time tick The values specified for almtim must be wi
29. context use sta_tsk if issued from non task context use ista_tsk Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task ER ercd VP_INT stacd 0 ercd sta tsk ID task2 stacd void task2 VP INT msg if msg 0 i lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM AO R1 R3 sta_tsk KID TASK4 012345678H 55 ext tsk Terminate invoking task C Language API ER ercd ext_tsk Parameters None e Return Parameters Not return from this service call Assembly language API include mr8c inc ext tsk e Parameters None Register contents after service call is issued Not return from this service call Error code Not return from this service call Functional description This service call terminates the invoking task In other words it places the issuing task from RUNNING state into DOR MANT state However This service call is designed to be issued automatically at return from a task In the invocation of this service call the resources the issuing task had acquired previously e g semaphore are not re leased This service call can only be used in task context This service call can be used even in a CPU locked state but cannot be used in non task context 56 Example program
30. default values that are referenced when settings in the configuration file are omitted This file is placed in the directory indicated by environment variable LIB8C or the current directory If this file exists in both directories the file in the current directory is prioritized over the other e include template file mr8c inc sys ram inc kernel_sysint h This file serves as the template file of include file mr8c inc kernel_sysint h and sys_ram inc It resides in the directory indicated by environment variable LIB8C e MR8C 4 version file version This file contains description of MR8C 4 s version It resides in the directory indicated by environment variable LIB8C The configurator reads in this file and outputs MR8C 4 s version information to the startup message 2 When the configurator is executed the files listed below are output Do not define user data in the files output by the configurator Starting up the configurator after entering data definitions may result in the user defined data being lost e System data definition file sys om Inc sys ram inc This file contains definition of system settings e Include file mr8c inc This is an include file for the assembly language e D number definition file kernel_id h The ID numbers of kernel objects are defined e Service call information file kernel_sysint h This is the include file of the service call usage information 155 Configuration
31. describe ext tsk in the subroutine 6 It is also possible to describe the task startup function using the infinite loop include lt itron h gt include lt kernel h gt include kernel id h void task void process Figure 7 1 Example Infinite Loop Task Described in C Language The task is ended by ext_tsk automatically if pramga TASK is declared in the MR8C 4 Similarly it is ended by ext_tsk when returned halfway of the function by return sentence 123 include lt itron h gt include lt kernel h gt include kernel id h void task void for process Figure 7 2 Example Task Terminating with ext_tsk Described in C Language 7 To specify a task use the string written in the task definition item name of the configura tion file wup tsk ID main 8 To specify an event flag semaphore or data queue use the respective strings defined in the configuration file For example if an event flag is defined in the configuration file as shown below flag 1 name ID abc E To designate this eventflag proceed as follows set flg ID abc ssetptn 9 To specify a cyclic or alarm handler use the string written in the cyclic or alarm handler definition item name of the configuration file sta cyc ID cyc 10 When a task is reactivated by the sta tsk service call after it has been terminated by the ter tsk service call the task itself starts from its initial sta
32. handler AAA 49 T lee ae geleed 51 Figure 6 1 MR8C 4 System Generation Detail Flowchart AAA 122 Figure 7 1 Example Infinite Loop Task Described in C Language cnn eee eee eee nenene nen 123 Figure 7 2 Example Task Terminating with ext tsk Described in C Lanouage eee eee eee eee eee 124 Figure 7 3 Example of Kernel OS dependent Interrupt Handler AAA 125 Figure 7 4 Example of Non kernel OS independent Interrupt Handler 4 2 eee eee eee een eee 125 Figure 7 5 Example Cyclic Handler Written in C Language 126 Figure 7 6 Example Infinite Loop Task Described in Assembly Language 2 2 24 eee eeee eee eee eee eee nenene 127 Figure 7 7 Example Task Terminating with ext tsk Described in Assembly Language 127 Figure 7 8 Example of kernel OS depend interrupt handler A 128 Figure 7 9 Example of Non kernel OS independent Interrupt Handler of Specific Level 128 Figure 7 10 Example Handler Written in Assembly Language naco nncr ana rnn cnn 129 Figure 7 11 C Language Startup Program ort mr a20 eee eee eee rn ren 134 Figure 7 12 Selection Allocation in C Language Startup Program 138 Figure 8 1 The operation of the Configurator occoconinicnnconnnnnnccnernnern rre 156 Figure 10 1 S stem Stack and User Stack iii e 164 Figure 102 ge EE 165 Figure 10 3 Example of Use Stack GizeCalculation nera rr 167 Figure 10 4 System Stack Calculation Methan 169 F
33. handler already in an operational state it sets the time at which the cyclic handler is to start next If while TA PHS is specified this service call is issued to a cyclic handler already in an operational state it does not set the startup time This service call can only be issued from task context and cannot be issued from non task context Example program statement lt lt Example statement in C language gt gt include lt itron h gt include lt kernel h gt include kernel id h void task sta_cyc ID cycl lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM A0 sta cyc ID_CYC1 99 stp cyc Stops cyclic handler operation C Language API ER ercd stp cyc ID cycid e Parameters ID cycid ID number of the cyclic handler to be stopped Return Parameters ER ercd Terminated normally E OK Assembly language API include mr8c inc stp cyc CYCNO e Parameters CYCNO ID number of the cyclic handler to be stopped Register contents after service call is issued Register name Content after service call is issued RO Error code A0 ID number of the cyclic handler to be stopped Error code None Functional description This service call places the cyclic handler indicated by cycid into a non operational state This service call can only be issued from task context and cannot be issued from non task context Examp
34. hereby under any patents copyrights or other intellectual property rights of Renesas Electronics or others You should not alter modify copy or otherwise misappropriate any Renesas Electronics product whether in whole or in part Descriptions of circuits software and other related information in this document are provided only to illustrate the operation of semiconductor products and application examples You are fully responsible for the incorporation of these circuits software and information in the design of your eguipment Renesas Electronics assumes no responsibility for any losses incurred by you or third parties arising from the use of these circuits software or information When exporting the products or technology described in this document you should comply with the applicable export control laws and regulations and follow the procedures reguired by such laws and regulations You should not use Renesas Electronics products or the technology described in this document for any purpose relating to military applications or use by the military including but not limited to the development of weapons of mass destruction Renesas Electronics products and technology may not be used for or incorporated into any products or systems whose manufacture use or sale is prohibited under any applicable domestic or foreign laws or regulations Renesas Electronics has used reasonable care in preparing the information included in this document but Re
35. in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h VP INT data 10 void task void if snd dta ID dtq data 0 E RIWAI error Forced releasedin if psnd_dtq ID dtq data 1 E TMOUT error Timeout n lt lt Example statement in assembly language gt gt include mr8c inc GLB task _g dtq LWORD 12345678H task PUSHM R1 R3 A0 psnd_dtq ID_DTQ2 0FFFFH PUSHM R1 R3 A0 snd_dtq ID_DTQ3 0ABCDH 92 rev dtg Receive from data gueue prev dtg Receive from data gueue polling C Language API ER ercd rev_dtq ID dtqid VP INT p data ER ercd prev_dtq ID dtqid VP INT p data e Parameters ID dtqid ID number of the data queue from which to receive VP_INT p_data Pointer to the start of the area in which received data is stored Return Parameters ER ercd Terminated normally E_OK or error code VP_INT p data Pointer to the start of the area in which received data is stored Assembly language API include mr8c inc rev_dtq DTQID prev_dtq DTQID Parameters DTQID ID number of the data queue from which to receive Register contents after service call is issued Register name Content after service call is issued RO Error code R1 Received data A0 Data gueue ID number Error code E RLWAI Forced release from waiting E TMOUT Polling failure 93 Functional description This se
36. involved in MR8C 4 operations and defines some relevant terms e 4Kernel Outlines the applications program development procedure for the MR8C 4 e 5 Service call reference Details MR8C 4 service call API e 6 Applications Development Procedure Overview Details the applications program development procedure for the MR8C 4 e 7 Detailed Applications Presents useful information and precautions concerning applications program development with MR8C 4 e 8 Using Configurator Describes the method for writing a configuration file and the method for using the configurator in detail e 9 Sample Program Description Describes the MR8C 4 sample applications program which is included in the product in the form of a source file e 10 Stack Size Calculation Method Describes the calculation method of the task stack size and the system stack size e 11 Note Presents useful information and precautions concerning applications program development with MR8C 4 e 12 Appendix Data type and assembly language interface 2 General Information 2 1 Objective of MR8C 4 Development In line with recent rapid technological advances in microcomputers the functions of microcomputer based products have become complicated In addition the microcomputer program size has increased Further as product development competi tion has been intensified manufacturers are compelled to develop their microcomputer based products within a short period of time In oth
37. key input microcomputer is haled Task Figure 3 5 Task Execution Interruption and Resumption In the state shown in Figure 3 5 it appears to the programmer that the key input task or its microcomputer is halted while another task assumes execution control Task execution restarts at the point of last interruption as the register contents prevailing at the time of the last interruption are recovered In other words task switching refers to the action performed to save the currently executed task register contents into the associated task management memory area and recover the register contents for the task to switch to To establish the kernel therefore it is only necessary to manage the register for each task and change the register contents upon each task switching so that it looks as if a number of microcomputers exist See Figure 3 6 Key input Remote control Task Task fo fo Register Register Figure 3 6 Task Switching The example presented in Figure 3 7 indicates how the individual task registers are managed In reality it is necessary to provide not only a register but also a stack area for each task WER Memory map Task Key input I Real time os Figure 3 7 Task Register Area Figure 3 8 shows the register and stack area of one task in detail In the MR8C 4 the register of each task is stored in a stack area as shown in Figure 3 8 This
38. not use a system clock define NOTIMER 1 Initialize the timer in start up routine 142 The cfg8c outputs following macros to the kernel id h Please initialize the timer based on this informa tion MR MPUCLOCK MPU operating freguency described in the cfg file MR UNITTIME The interrupt interval of the system clock was expressed with us MR TIMER IPL The IPL value of the system clock interrupt 2 Define the relocatable interrupt vector as follows interrupt_vector lt Vector number gt entry_address RI_SYS_STMR_INH os int YES 3 System clock interrupt priority level Definition format Numeric value Definition range 1 to Kernel mask OS interrupt disable level in system definition Default value 4 Define the priority level of the system clock timer interrupt The value set here must be smaller than the kernel mask OS interrupt disable level Interrupts whose priority levels are below the interrupt level defined here are not accepted during system clock interrupt handler processing Task definition lt lt Format gt gt Tasks Definition task ID No name ID name entry address Start task of address stack size User stack size of task D priority Initial priority of task context Registers used stack section Section name in which the initial start TA ACT attribute initial startup state
39. statement lt lt Ex ample statement in C language gt gt include lt itron h gt include lt kernel h gt include kernel id h void task void ext tsk lt lt Example statement in assembly language gt gt task INCLUDE mr8c inc GLB task ext tsk 57 ter tsk Terminate task C Language API ER ercd ter tsk ID tskid Parameters ID tskid ID number of the forcibly terminated task e Return Parameters ER ercd Terminated normally E OK or error code Assembly language API include mr8c inc ter tsk TSKID e Parameters TSKID ID number of the forcibly terminated task Register contents after service call is issued Register name Content after service call is issued RO Error code A0 ID number of the target task Error code E OBJ Object status invalid task indicated by tskid is an inactive state E ILUSE Service call improperly used task indicated by tskid is the issuing task itself Functional description This service call terminates the task indicated by tskid If a task specifies its own task ID or TSK SELF an E ILUSE error is returned If the specified task was placed into WAITING state and has been enqueued in some waiting gueue the task is degueued from it by execution of this service call However the semaphore and other resources the specified task had acguired pre viously are not released If the task indicated by tskid is in DORMAN
40. statement in assembly language gt gt include mr8c inc GLB task task PUSHM A0 wup tsk ID_TASK1 66 can wup Cancel wakeup reguest C Language API ER UINT wupcnt can wup ID tskid Parameters ID tskid ID number of the target task Return Parameters ER UINT wupcnt gt 0 Canceled wakeup reguest count wupcnt lt 0 Error code Assembly language API include mr8c inc can wup TSKID e Parameters TSKID ID number of the target task e Register contents after service call is issued Register name Content after service call is issued RO Error code Canceled wakeup request count A0 ID number of the target task Error code E OBJ Object status invalid task indicated by tskid is an inactive state Functional description This service call clears the wakeup reguest count of the target task indicated by tskid to 0 This means that because the tar get task was in either WAITING state nor WAITING SUSPENDED state when an attempt was made to wake it up by wup tsk or iwup_tsk before this service call was issued the attempt resulted in only accumulating wakeup requests and this service call clears all of those accumulated wakeup requests Furthermore the wakeup request count before being cleared to O by this service call i e the number of wakeup requests that were issued in vain wupent is returned to the issuing task If a wakeup request is issued while the target task is in DORMAN
41. task unl cpu lt lt Example statement in assembly language gt gt include mr8c inc GLB task task unl cpu 109 dis dsp Disable dispatching C Language API ER ercd dis dsp Parameters None e Return Parameters ER ercd Terminated normally E OK Assembly language API include mr8c inc dis dsp e Parameters None Register contents after service call is issued Register name Content after service call is issued RO Error code Error code None Functional description This service call places the system into a dispatching disabled state The features of a dispatching disabled state are outlined below 1 Since task scheduling is not performed anymore no tasks other than the issuing task itself will be placed into RUNNING state 2 Interrupts are accepted 3 No service calls can be invoked that will place tasks into WAITING state If one of the following operations is performed during a dispatching disabled state the system status returns to a task exe cution state a Invocation of the ena_dsp service call b Invocation of the ext_tsk service call Transitions between dispatching disabled and dispatching enabled states occur only when the dis_dsp ena_dsp or ext_tsk service call is invoked Invoking this service call again while the system is already in a dispatching disabled state does not cause an error in which case task queuing is not perfo
42. task wakeup service call it still remains in SUSPENDED state and its execution cannot be resumed until rsm_tsk is issued This service call can only be issued from task context and cannot be issued from non task context Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task if slp tsk E OK error Forced wakeup n lt lt Example statement in assembly language gt gt include mr8c inc GLB task task slp tsk 64 wup tsk Wakeup task iwup tsk Wakeup task handler only C Language API ER ercd wup tsk ID tskid ER ercd iwup tsk ID tskid e Parameters ID tskid ID number of the target task e Return Parameters ER ercd Terminated normally E OK or error code Assembly language API include mr8c inc wup tsk TSKID iwup tsk TSKID Parameters TSKID ID number of the target task Register contents after service call is issued Register name Content after service call is issued RO Error code A0 ID number of the target task Error code E_OBJ Object status invalid task indicated by tskid is an inactive state E_QOVR Queuing overflow Functional description If the task specified by tskid has been placed into WAITING state by slp tsk this service call wakes up the task from WAITING state to place it into READY or RUNNING state Or if the task
43. written in the range of 0 to 63 and 247 to 255 However whether or not the defined vector num ber is valid depends on the microcomputer used Configurator can t create an Initialize routine interrupt control register interrupt causes etc for this defined interrupt You need to create that lt lt Content gt gt 1 Kernel OS dependent interrupt handler Definition format Symbol Definition range YES or NO Define whether the handler is a kernel OS dependent interrupt handler If it is a kernel OS dependent interrupt handler specify YES if it is a non kernel OS independent interrupt handler specify No If this item is defined as YES the declaration statement shown below is output to the kernel id h file Hpragma INTHANDLER V4 function name If this item is defined as NO the declaration statement shown below is output to the kernel id h file Hpragma INTERRUPT V4 function name 2 Start address Definition format Symbol or function name Definition range None Default value _ SYS DMY INH Define the entry address of the interrupt handler When written in the C language add at the end or at the be ginning of the function name you have defined 3 Switch passed to PRAGMA extended function Definition format Symbol Definition range E F orB Default value None Specify the switch to be passed to pragma INTHANDLER or pragma INTERRUPT If E is specified the E sw
44. 0 ext tsk 0 0 stp cyc 10 0 ter tsk 0 4 sta alm 10 0 chg pri 0 4 stp_alm 10 0 slp_tsk 0 2 get_tid 1065 0 wup_tsk 0 2 loc_cpu 4 0 can_wup 10 0 unl cpu 0 0 rel wal 0 4 ref ver 12 0 sus tsk 0 2 dis dsp 4 0 rsm tsk 0 2 ena dsp 0 0 dly_tsk 0 4 snd_dtq 0 4 sig_sem 0 2 psnd dtg 0 2 wal_sem 0 2 rev dtg 5 2 pol sem 10 0 prev dtg 5 2 set flg 0 6 clr flg 10 0 wat flg 5 2 pol flg 10 5 0 Stack sizes used by service call in C programs Tabl e 10 2 Stack Si zes Used by Servi ce Cal s ssued f romFandl ers i n bytes lists the stack sizes system stack used by service calls that can be issued from handlers Table 10 2 Stack Sizes Used by Service Calls Issued from Handlers in bytes Service call Stack size Service call Stack size iwup_tsk 14 iset_flg 22 irel_ wai 14 ipsnd_dtq 6 isig sem 4 ret_int 10 ista_tsk 14 Stack sizes used by service call in C programs Table 10 3 Stack Si zes Used by Servi ce Cal s ssued f romTasks and Handl ers in bytes lists the stack sizes system stack used by service calls that can be issued from both tasks and handlers If the service call issued from task system uses user stack If the service call issued from handler system uses system stack Table 10 3 Stack Sizes Used by Service Calls Issued from Tasks and Handlers in bytes Service call Stack size Service call Stack size sns_ctx 10 sns_loc 10 sns_dsp 10
45. 0OFFFFH sp lde _ Sys Sp amp 0FFFFH fb Initialize standard I O Set System IPL and Set Interrupt Vector mov b 0 ROL mov b SYS IPL ROH lde RO FLG set system IPL lde __INT_VECTOR gt gt 16 amp 0FFFFH INTBH lde __INT_VECTOR amp 0FFFFH INTBL IF USE_TIMER AS e A EE B A E D System timer interrupt setting PRE en ner An ci Snipes ele pes 8 mov b Hstmr_mod val stmr mod reg set timer mode mov b Hstmr int IPL stmr int reg set timer IPL mov b 4stmr cnt lower stmr ctr reg set interval count mov b Hstmr_cnt upper stmr_pre reg set interval count mov b 0 stmr ioc reg IF USE TIMER RB mov b 0 stmr ct2 reg mov b 0 stmr one reg ENDIF or b Hstmr bit l stmr start system timer start ENDIF PRE S P S E a Ia R E SS E S System timer initialize SS u A jen SES IF USE SYSTEM TIME MOV W D Sys TIME L Sys time 4 MOV W D Sys TIME M Sys time 2 MOV W D Sys TIME H Sys time ENDIF BEE RAS P O P P a a E User Initial Routine if there are e SoS Sco ses ese So ese soe chee do Sees zone Seas jmp _ MR INIT for Separate ROM p EE B Se See SSS SS SS SR E ee SS RS BE a dl Initalization of System Data Area A e ne GLB init sys init tsk END INIT JSR W init sys JSR W init tsk IF _ NUM FLG GLB _ init flg JSR W _ init flg ENDIF IF NUM SEM GLB __init_sem 132 157 JSR W init sem 158
46. 10 shows the process between service call generation and task switching Key input Task Register Save Service call issuance SP lt OS Processing Task Selection Task gt SP LED illumination Task Register Restore Figure 3 10 Service Call Processing Flowchart 6 A different sequence is followed if the issued service call does not evoke task switching 14 3 2 2 Processing Procedures for Service Calls from Handlers When a service call is issued from a handler task switching does not occur unlike in the case of a service call from a task However task switching occurs when a return from a handler is made The processing procedures for service calls from handlers are roughly classified into the following three types 1 A service call from a handler that caused an interrupt during task execution 2 A service call from a handler that caused an interrupt during service call processing 3 A service call from a handler that caused an interrupt multiplex interrupt during handler exe cution 7 The service call can t be issued from OS independent handler Therefore The handler described here does not include the OS independent handler D gt Service Calls from a Handler That Caused an Interrupt during Task Execution Scheduling task switching is initiated by the ret int service call See Figure 3 11 TaskA Interrupt handler OS Interrupt Save Registers Se
47. 139 It is also possible to enter operators in numerical values Table 8 2 Operators lists the operators available Table 8 2 Operators Operator Priority Direction of computation High From left to right Unary minus From right to left From left to right Binary minus Low From loft to right Numerical value examples are presented below e 123 e 123 0x23 e 23 4 3 2 100B 0aH Symbol The symbols are indicated by a character string that consists of numerals upper and lower case alphabetical let ters _ underscore and and begins with a non numeric character Example symbols are presented below e _TASK1 e IDLE3 Function Name The function names are indicated by a character string that consists of numerals upper and lower case alpha betical letters dollar and _ underscore begins with a non numeric character and ends with The following shows an example of a function name written in the C language e main e func When written in the assembly language the start label of a module is assumed to be a function name Frequency The frequency is indicated by a character string that consist of numerals and period and ends with MHz The numerical values are significant up to six decimal places Also note that the frequency can be entered using de cimal numbers only Frequency entry examples
48. 3 ms and the cy clic handler has started operating when a time tick is supplied then the cyclic handler is started every time tick Start operating Stop operating Cyclic handler created Activation Activation Activation Activation Activation i phase i cyde cyde cyde cyde i v v v Handler does Handler does Handler starts Handler starts Handler does not start not start not start Figure 4 13 Cyclic handler operation in cases where the activation phase is saved Start operating Stop operating Cyclic handler Activation Activation Activation Activation Activation i phase i cyde cyde cycle cycle i v v v Handler does Handler does Handler starts Handler starts Handler does not start not start not start Figure 4 14 Cyclic handler operation in cases where the activation phase is not saved e Start Cyclic Handler Operation sta cyc Causes the cyclic handler with the specified ID to operational state e Stop Cyclic Handler Operation stp cyc Causes the cyclic handler with the specified ID to non operational state 48 4 2 8 Alarm Handler Function The alarm handler is a time event handler that is started only once at a specified time Use of the alarm handler makes it possible to perform time dependent processing The time of day is specified by a relative time Figure 4 15 shows a typical operation of the alarm handler Start operating Start operatin
49. 37 mov w sizeof SECT R3 38 smovf b 39 endm 40 A EE EE 42 Interrupt section start A it E a pe oe Dee Uomo Z Abd 44 glb SYS INITIAL 45 section MR KERNEL CODE ALIGN 46 SYS INITIAL A is a A A o o 48 after reset this program will start CN A NN O AS A A O o e o S o B Sit RP E 50 tdg __ Sys Sp amp OFFFFH ISP set initial ISP 51 52 mov b 2H OAH 53 mov b 00 PMOD Set Processor Mode Regsiter 54 mov b 0H OAH 55 ldc 00H FLG 56 lde __Sys_Sp amp 0FFFFH fb 57 lac H SB sb 58 59 oo 60 ISSUE SYSTEM CALL DATA INITIALIZE 61 62 For PD30 63 __INIT_ISSUE_SYSCALL 64 65 3 66 MR RAM DATA O zero clear 67 68 N BZERO MR RAM top MR RAM 69 70 JI j 5 5 5 5 5 5 72 NEAR area initialize MASA e A 5 PE PSE SAAB E aaa 74 bss zero clear TE m gt Penis o emo m aaa c SSeS See dn 76 N BZERO bss SE top bss SE B OI OURUNFO EFF UT UT UT H NFO 153 154 155 156 N BZERO bss SO top bss SO N BZERO bss NE top bss NE N BZERO bss NO top bss NO N BCOPY data SEI top data SE top data SE N BCOPY data SOI top data SO top data GO N BCOPY data NEI top data NE top data NE N BCOPY data NOI top data NO top data NO ldc H _ Sys Spa
50. 5 name TASK ID1 26 initial start ON 27 entry address taskl 28 stack size 0x80 29 priority 9 7 30 exinf 0x1234 bc alee 32 task 2 33 name TASK ID2 34 initial start OFF 35 entry address task2 36 stack size 0x80 37 priority 25 38 exinf 0x8000 39 40 task 3 41 name TASK ID3 42 initial start OFF 43 entry address task3 44 stack size 0x80 45 priority 46 exinf 0x1234 47 48 event flag default added 49 flag 1 50 name FLG ID1 51 initial pattern 0x0000 52 wait multi TA WMUL 53 clear attribute YES 54 f 55 semaphore 1 56 name SEM ID1 57 initial_count 0 58 59 60 interrupt_vector 22 61 os_int YES 62 entry address inth 63 64 65 66 End of Configuration 67 154 8 2 Configurator Execution Procedures 8 2 1 Configurator Overview The configurator is a tool that converts the contents defined in the configuration file into the assembly language include file etc Figure 8 1 outlines the operation of the configurator When used on High performance Embedded Workshop the configurator is automatically started and an application pro gram is built 1 Executing the configurator requires the following input files e Configuration file XXXX cfg This file contains description of the system s initial setup items It is created in the current directory e Default configuration file default cfg This file contains
51. 8C 4 kernel is supplied in the form of a library and only necessary features are linked at the time of system genera tion More specifically only the functions used are chosen from those which comprise these modules and linked by means of the Linkage Editor LN30 However the scheduler module part of the task management module and part of the time management module are linked at all times because they are essential feature functions The applications program is a program created by the user It consists of tasks interrupt handler alarm handler and cyclic handler Application Program Task Time Task dependent Management Semaphore Management synchronization System stae Interrupt Eventflag Management Data queue Management System configuration Management Scheduler R8C Microcomputer Figure 4 1 MR8C 4 Structure 35 User Module MR8C 4 kernel Hardware 4 2 Module Overview The MR8C 4 kernel modules are outlined below e Scheduler Forms a task processing queue based on task priority and controls operation so that the high priority task at the beginning in that queue task with small priority value is executed e Task Management Module Exercises the management of various task states such as the RUNNING READY WAIT and SUSPENDED state e Task Dependent Synchronization Module Accomplishes inter task synchronization by changing the task status from a different task e Int
52. Figure 4 5 wup tsk wup_tsk wup tsk slp tsk slp tsk Task ENEE Wakeup reguest count 0 0 1 2 1 Figure 4 4 Wakeup Request Storage wup_tsk wup_tsk can wup slp tsk slp tsk Task DL a Wakeup request count 0 0 1 0 0 Figure 4 5 Wakeup Reguest Cancellation 39 Suspend task sus tsk Resume suspended task rsm tsk These service calls forcibly keep a task suspended for execution or resume execution of a task If a suspend re quest is issued to a task in READY state the task is placed into SUSPENDED state if issued to a task in WAIT state the task is placed into WAIT SUSPENDED state Since MR8C 4 allows only one forcible wait request to be nested if sus_tsk is issued to a task in a forcible wait state the error E OOVR is returned See Figure 4 6 E OOVR sus tsk sus tsk rsm tsk Tak ee es l Me RUNNING SUSPENDED READY state state state WAITING WAITING state SUSPENDED WAITING state state Number of suspension 0 1 1 0 request Figure 4 6 Forcible wait of a task and resume 40 Release task from waiting rel wa irel wai Forcibly frees a task from WAITING state A task is freed from WAITING state by this service call when it is in one of the following wait states Delay wait state Wait state entered by slp tsk service call Event flag wait state Semaphore wait state Data transmission wait state Data reception wait state eff Delay task dly tsk Keeps a task waiting for a finite length o
53. File xxx cfg Default Configuration File default cfg System Data Difinition File sys ram inc sys rom inc kernel sysint h Template File kernel sysint h cfg8c Z Ee Template File Include File mr8c inc kernel id h kernel sysint h sys ram inc mr8c inc sl MR8C 4 Version File version Figure 8 1 The operation of the Configurator 8 2 2 Setting Configurator Environment Before executing the configurator check to see if the environment variable LIB8C is set correctly The configurator cannot be executed normally unless the following files are present in the directory indicated by the envi ronment variable LIB8C e Default configuration file default cfg This file can be copied to the current directory for use In this case the file in the current directory is given priority e System RAM area definition database file sys_ram inc e mr8c inc template file mr8c inc e Section definition file c_sec inc or asm_sec inc e Startup file crtOmr a30 or start a30 e MR8C 4 version file version e Service call information file kernel_sysint h 8 2 3 Configurator Start Procedure Start the configurator as indicated below C gt cfg8c vV Configuration file name Normally use the extension cfg for the configuration file name 156 Command Options v Option Displays the command option descriptions and detailed information on th
54. IOCK Th e CAE 26 3D Systemi A O OT 28 3 5 1 Task Context and Non task Contest 28 3 5 2 Dispatch Enabled Disabled States AA 30 3 5 3 CPU Locked Unlocked Gtatee AEN 30 3 5 4 Dispatch Disabled and CPU Locked States eee eee eee eee eee ee eee 30 Zb Regarding Nte U ES La b Ret dak a eee ed Tha nL date E Me 31 3 6 1 Types of Interrupt Handers 2 2 2 eee eee ee eee eee eee nenene KKK K KKK KARA KAPKA 31 3 6 2 TheUseof Non maskable Interrupt AAA 31 3 6 3 Controlling nterr ptS rire A otv gta n o Ala tat ny t tnak 32 E a EE 34 3 7 1 System Stack and User Strack 34 A dn RE 35 amp 1 Oe UE el 35 42 gt Module Overview iii cd EE gh at da Ra aa deca ue e dd Es 36 4 2 1 Task Management Euncion 22 2 22 e eee eee eee eee eee eee en eh KKK KK KK KRK AAA Kant 37 4 2 2 Task Dependent Synchronization Funcion eee eee eee eee eee cnn 39 4 2 3 Synchronization and Communication Function Gemapborel lt 42 4 2 4 Synchronization and Communication Function Event lag ee eerrrrrr 44 4 2 5 Synchronization and Communication Function Data Queue 46 4 2 6 Time Management Funchton ee eeee eee ee eee eee eee nea n a KK KK AK EK AKA Kant 47 4 2 7 EydicH adi FUNCION EE 48 4 2 8 Alarm Handler Funcion eee eee eee eee ee eee eee en ena KK K EK KA AKA RKK AKA AKE AKA RKK Kn 49 4 29 System Status Management Funclon cr 50 4 2 10 Inte
55. Make sure that the registers used in a handler are saved at the entry and are restored after use Be sure to end the handler by REIT instruction No service calls can be issued from a non kernel an OS independent interrupt handler NOTE If this restriction is not observed the software may malfunction 5 If you want multiple interrupts to be enabled in a non kernel an OS independent interrupt handler always make sure that the non kernel OS independent interrupt handler is as signed a priority level higher than other non kernel OS dependent interrupt handlers GLB inthand n 1 inthand Registers used are saved to a stack 2 interrupt process Registers used are restored 2 REIT 2 2 2 en 3 Figure 7 9 Example of Non kernel OS independent Interrupt Handler of Specific Level 7 2 4 Writing Cyclic Handler Alarm Handler When describing the cyclic or alarm handler in Assembly Language observe the following precautions 31 The relationship between task ID numbers and tasks program is defined in the configuration file Use the GLB peudo directive Wi you want the non kernel OS independent interrupt handler to be assigned a priority level lower than kernel OS dependent interrupt handlers change the description of the non kernel OS independent interrupt handler to that of the kernel OS dependent interrupt handler 128 1 At the beginning of file be sure to include mr8c inc which is i
56. ON or OFF Default value OFF Define the initial startup state of a task If this attribute is specified ON the task goes to a READY state at the initial system startup time The task startup code of the initial startup task is 0 One or more tasks must have TA_ACT attribute 8 Extended information Definition format Numeric value Definition range 0 to OxFFFF Default value 0 Define the extended information of a task This information is passed to the task as argument when it is restarted by a gueued startup reguest for example Eventflag definition This definition is necessary to use Eventflag function lt lt Format gt gt Eventflag Definition flag ID No 1 name Name initial pattern Initial value of the event flag wait_multi Multi wait attribute clear attribute Clear attribute The ID number must be in the range of 1 to 255 The ID number can be omitted If omitted numbers are automatically assigned seguentially beginning with the smallest 145 lt lt Content gt gt Define the following for each eventflag ID number 1 ID Name Definition format Symbol Definition range None Default value None Define the name with which an eventflag is specified in a program 2 Initial value of the event flag Definition format Numeric value Definition range 0 to OxFFFF Defa
57. R8C 4 then automatically converts the task name to the task ID number This task identification system is schematized in Figure 3 14 sta tsk Task name Starting the task having the designated Name gt ID number 1D number Configurator Program Real time OS Figure 3 14 Task Identification sta tsk ID task stacd This example specifies that a task corresponding to ID task be invoked It should also be noted that task name to ID number conversion is effected at the time of program generation Therefore the processing speed does not decrease due to this conversion feature 19 3 4 Task This section describes how tasks are managed by MR8C 4 3 4 1 Task Status The real time OS monitors the task status to determine whether or not to execute the tasks Figure 3 15 shows the relationship between key input task execution control and task status When there is a key input the key input task must be executed That is the key input task is placed in the execution RUNNING state While the system waits for key input task execution is not needed In that situation the key input task in the WAITING state Key input Task Key input Waiting for Key input processing key input processing RUNNIG state WAITING state RUNNING state Figure 3 15 Task Status The MR8C 4 controls the following six different states including the RUNNING and WAITING states 1 2 5 6 RUNNING state READY state WAITING stat
58. RUNNING In this service call unlike in act tsk iact tsk startup reguests are not accumulated but startup code can be specified Terminate Invoking Task ext tsk When the issuing task is terminated its state changes to DORMANT state The task is therefore not executed until it is restarted If startup requests are accumulated task startup processing is performed again In that case the is suing task behaves as if it were reset If written in C language this service call is automatically invoked at return from the task regardless of whether it is explicitly written when terminated e Terminate Task ter_tsk Other tasks in other than DORMANT state are forcibly terminated and placed into DORMANT state If startup requests are accumulated task startup processing is performed again In that case the task behaves as if it was re set See Figure 4 2 Startup request count gt 0 TaskB ter_tsk B Terminated Task B reset Figure 4 2 Task Resetting e Change Task Priority chg_pri If the priority of a task is changed while the task is in READY or RUNNING state the ready queue also is up dated See Figure 4 3 37 Priority 1 A TaskA Cp Task B U 3 Task C Task B gt Task D I l L 4 n gt TaskE Task F When the priority of task B has been changed from 3 to 1 Figure 4 3 Alteration of task priority Reference ta
59. T state it returns the error code E OBJ as a return value for the service call This service call can only be used in task context and cannot be used in non task context 58 Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task ter tsk ID main lt lt Example statement in assembly language gt gt INCLUDE mr8c inc GLB task task PUSHM AO ter tsk ID_TASK3 59 chg pri Change task priority C Language API ER ercd chg_pri ID tskid PRI tskpri e Parameters ID tskid ID number of the target task PRI tskpri Priority of the target task Return Parameters ER ercd Terminated normally E OK or error code Assembly language API include mr8c inc chg pri TSKID TSKPRI e Parameters TSKID ID number of the target task TSKPRI Priority of the target task Register contents after service call is issued Register name Content after service call is issued RO Error code R3 Priority of the target task A0 ID number of the target task Error code E OBJ Object status invalid task indicated by tskid is an inactive state 60 Functional description This service call changes the priority of the task indicated by tskid to the value indicated by tskpri and performs resched uling based on the result of that priority change Therefore if this service call i
60. T state the error code E OBJ is returned If TSK_SELF is specified for tskid it means specifying the issuing task itself This service call can only be issued from task context and cannot be issued from non task context 67 Example program statement lt lt Example statement in C language gt gt include lt itron h gt include lt kernel h gt include kernel id h void task ER_UINT wupcnt wupcnt can wup ID main if wup cnt gt 0 printf wupent din wupcnt lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM A0 can wup KID TASK3 68 rel wai Release task from waiting irel_ wai Release task from waiting handler only C Language API ER ercd rel wai ID tskid ER ercd irel wai ID tskid e Parameters ID tskid ID number of the target task e Return Parameters ER ercd Terminated normally E OK or error code Assembly language API include mr8c inc rel wai TSKID irel wai TSKID Parameters TSKID ID number of the target task Register contents after service call is issued Register name Content after service call is issued RO Error code A0 ID number of the target task Error code E OBJ Object status invalid task indicated by tskid is not an wait state Functional description This service call forcibly release the task indicated by tskid from waiting except SUSPENDED state to
61. This definition is necessary to use Cyclic handler function lt lt Format gt gt Cyclic Handlar Definition cyclic hand ID No 1 J name ID name interval counter Activation cycle start TA STA attribute phsatr TA PHS attribute i phs counter Activation phase i entry address Start address exitf Extended information The ID number must be in the range of 1 to 255 The ID number can be omitted If omitted numbers are automatically assigned seguentially beginning with the smallest lt lt Content gt gt Define the following for each cyclic handler ID number 1 2 3 4 ID name Definition format Symbol Definition range None Default value None Define the name by which the cyclic handler is specified in a program Activation cycle Definition format Numeric value Definition range 1 to Ox7FFFFFFF Default value None Define the activation cycle at which time the cyclic handler is activated periodically The activation cycle here must be defined in the same unit of time as the system clock s unit time that is defined in system clock definition item If you want the cyclic handler to be activated at 1 second intervals for example the activation cycle here must be set to 1000 TA STA attribute Definition format Symbol Definition range ON or OFF Default value OFF
62. To our customers Old Company Name in Catalogs and Other Documents On April 1 2010 NEC Electronics Corporation merged with Renesas Technology Corporation and Renesas Electronics Corporation took over all the business of both companies Therefore although the old company name remains in this document it is a valid Renesas Electronics document We appreciate your understanding Renesas Electronics website http www renesas com April 1 2010 Renesas Electronics Corporation Issued by Renesas Electronics Corporation http www renesas com Send any inquiries to http www renesas com inquiry ENESAS 8 10 11 12 Notice All information included in this document is current as of the date this document is issued Such information however is subject to change without any prior notice Before purchasing or using any Renesas Electronics products listed herein please confirm the latest product information with a Renesas Electronics sales office Also please pay regular and careful attention to additional and different information to be disclosed by Renesas Electronics such as that disclosed through our website Renesas Electronics does not assume any liability for infringement of patents copyrights or other intellectual property rights of third parties by or arising from the use of Renesas Electronics products or technical information described in this document No license express implied or otherwise is granted
63. XX is already registered Modify the ID number or delete the extra definition cfg8c Error you must define XXXX near line xxx xxxx cfg XXXX cannot be omitted cfg8c Error you must define SYMBOL near line xxx xxxx cfg This symbol cannot be omitted cfg8c Error start up file XXXX not found The start up file XXXX cannot be found in the current directory The startup file start a30 or crtOmr a30 is required in the current directory cfg8c Error bad start up file XXXX There is unnecessary start up file in the current directory cfg8c Error no source file No source file is found in the current directory cfg8c Error zero divide error near line xxx xxxx cfg A zero divide operation occurred in some arithmetic expression cfg8c Error task X stack size must set XX or more near line xxx xxxx cfg You must set more than XX bytes in task x stack_size cfg8c Error RO and R1 must exist in task x context near line xxx xxxx cfg You must select RO and R1 register in task x context cfg8c Error can t define address match interrupt definition for Task Pause Function near line xxx xxxx cfg Another interrupt is defined in interrupt vector definition needed by Task Pause Function cfg8c Error Set system timer system timeout YES near line xxx xxxx cfg Set clock timer symbol except NOTIMER 158 cfg8c Error Initial Start Task not defined No initial startup task is defined in the c
64. al The timer times out at the timeout value time tick interval first time tick For example if the time tick interval is 10 ms and the specified timeout value is 40 ms then the timer times out at the fifth oc currence of the time tick Similarly if the time tick interval is 5 ms and the specified timeout value is 15 ms then the timer times out at the fourth occurrence of the time tick 3 If the delay time value is not a multiple of time tick interval The timer times out at the timeout value time tick interval second time tick For example if the time tick interval is 10 ms and the specified timeout value is 35 ms then the timer times out at the fifth oc currence of the time tick A7 4 2 7 Cyclic Handler Function The cyclic handler is a time event handler that is started every startup cycle after a specified startup phase has elapsed The cyclic handler may be started with or without saving the startup phase In the former case the cyclic handler is started relative to the point in time at which it was generated In the latter case the cyclic handler is started relative to the point in time at which it started operating Figure 4 13 and Figure 4 14 show typical operations of the cyclic handler If the startup cycle is shorter than the time tick interval the cyclic handler is started only once every time tick supplied processing eguivalent to isig tim For example if the time tick interval is 10 ms and the startup cycle is
65. alls Issued from Tasks and Handlers in bytes for the system stack size used for each individual service call ee OS dependent interrupt handler not including the system clock interrupt handler here and OS independent interrupt handler 168 a The maximum system stack size among the service calls to be used 2 SS gt BuThe system stack size to be used by the interrupt handler p1 YL gt 2 Interrupt SS p Interrupt A Bn lt gt The necessary system stack Figure 10 4 System Stack Calculation Method 169 Stack size Bi used by interrupt handlers The stack size used by an interrupt handler that is invoked during a service call can be calculated by the eguation below The stack size Bi used by an interrupt handler is shown below C language Using the stack caliculation utility calculate the stack size of each interrupt handler Refer to the manual of STK Viewer for detailed use of STK Viewer Assembly language The stack size to be used by OS dependent interrupt handler register to be used user size stack size to be used by service call The stack size to be used by OS independent interrupt handler register to be used user size User size is the stack size of the area written by user SN Context 20bytes gt Interrupt 2bytes lt jsr func 20bytes iset flg ret int 42bytes Context 20 bytes when written in C language When written in assembly language
66. ame abc y To specify this semaphore write your specification as follows sig sem ID abc 7 To specify a cyclic or alarm handler use the string written in the cyclic or alarm handler definition item name of the configuration file For example if you want to specify a cyclic handler cyc write your specification as follows sta cyc HID cyc 9 Use the GLB pseudo directive 127 8 Set a task that is activated at MR8C 4 system startup in the configuration file 7 2 2 Writing Kernel OS dependent Interrupt Handler When describing the kernel OS dependent interrupt handler in assembly language observe the following precautions 1 At the beginning of file be sure to include mr8c inc which is in the system directory 2 For the symbol indicating the interrupt handler start address make the external declara tion Global declaration 3 Make sure that the registers used in a handler are saved at the entry and are restored after use 4 Return to the task by ret_int service call INCLUDE mr o jmo 1 GLB nt ear 2 inth Registers used are saved to a stack 3 iwup tsk HID taskl process Registers used are restored 3 ret int 2 n 4 Figure 7 8 Example of kernel OS depend interrupt handler 7 2 3 Writing Non kernel OS independent Interrupt Handler 1 For the symbol indicating the interrupt handler start address make the external declaration public declaration 2
67. at flg and set flg service calls The eventflag has a feature that it can wake up multiple tasks collectively at a time In Figure 4 11 there are six tasks linked one to another task A to task F When the flag pattern is set to OxF by the set flg service call the tasks that meet the wait conditions are removed seguentially from the top of the gueue In this diagram the tasks that meet the wait conditions are task A task C and task E Out of these tasks task A task C and task E are removed from the gueue If this event flag has a TA CLR attribute when the waiting of Task A is canceled the bit pattern of the event flag will be set to 0 and Task C and Task E will not be removed from queue Flag gueue TaskA TaskB TaskC TaskD TaskE TaskF Flag pattern Wait pattern OxOF OxF F OxOF OxF F OxFF 0x10 Wait mode OR AND AND AND OR OR set To TaskB TaskD TaskF Flag pattern 0x0F Figure 4 11 Task Execution Control by the Eventflag 44 There are following eventflag service calls that are provided by the MR8C 4 kernel e Set Eventflag set To iset flg Sets the eventflag so that a task waiting the eventflag is released from the WAITING state e Clear Eventflag clr_flg Clears the Eventflag e Wait for Eventflag wai_flg Waits until the eventflag is set to a certain pattern There are two modes as listed below in which the eventflag is waited for AND wait Waits until all specified bits are set OR wait Waits until an
68. at need to be performed immediately should be given higher priorities The MR8C 4 permits giving the same priority to several tasks To provide proper control over the READY task execution order the kernel generates a task execution queue called ready queue The ready queue structure is shown in Figure 3 17 The ready queue is provided and controlled for each priority level The first task in the ready queue having the highest priority is placed in the RUNNING state Priority Ed TCB gt TCB TCB TCB TCB Figure 3 17 Ready Queue Execution Queue 12 The TCB task control block is described in the next chapter The task in the RUNNING state remains in the ready queue 24 3 4 3 Task Priority and Waiting Queue In The standard profiles in HITRON 4 0 Specification support two waiting methods for each object In one method tasks are placed in a waiting queue in order of priority TA TPRI attribute in another tasks are placed in a waiting queue in order of FIFO TA_TFIFO MR8C 4 supports only TA_TFIFO attribute Figure 3 19 depict the manner in which tasks are placed in a waiting gueue in order of taskD taskC taskA and taskB ID No taskD e taskC 7 taskA 7 taskB Priority 9 Priority 6 Priority 1 Priority 5 HRE Figure 3 18 Waiting queue of the TA_TFIFO attribute 25 3 4 4 Task Control Block TCB The task con
69. call 229 For PD30 230 _ ISSUE SYSCALL 231 232 233 234 System timer interrupt handler 235 _STMR_hdr 236 ret_int 133 237 endif 238 239 end Figure 7 11 C Language Startup Program crtOmr a30 The following explains the content of the C language startup program crtOmr a30 Incorporate a section definition file 11 in Figure 7 11 Incorporate an include file for MR8C 4 12 in Figure 7 11 Incorporate a system ROM area definition file 13 in Figure 7 11 Incorporate a system RAM area definition file 14 in Figure 7 11 SBD This is the initialization program SYS INITIAL that is activated immediately after a reset 46 185 in Figure 7 11 Setting the System Stack pointer 50 in Figure 7 11 Setting the processor mode register 52 54 in Figure 7 11 Setting the SB FB register 55 57 in Figure 7 11 Initial set the C language 76 92 in Figure 7 11 Setting OS interrupt disable level 104 106 in Figure 7 11 Setting the address of interrupt vector table 107 and 108 in Figure 7 11 Set MR8C 4 s system clock interrupt 114 124 in Figure 7 11 Initialization of standard I O function 96 97 in Figure 7 11 When using no standard input output functions remove the lines 96 and 97 in Figure 7 11 Initial set MR8C 4 s system timer 129 133 in Figure 7 11 Initial set parameters inherent in the application 140 in Figure 7 11 Initialize the RAM data used by MR8C 4 146 173 in Figure 7 11 Sets the bit whi
70. call processing I I I flag D 0 gt lt 1 0 I 1 I IPL 0 lt system IPL 0 lt systemiPL 0 I Figure 3 22 Interrupt control in a Service Call that can be Issued from only a Task 32 For service calls that can be issued from only non task context or from both task context and non task context When the flag before issuing a service call is 1 Tek Servi Il issued service call processin E Handler ervice call issu p g Handler T a I I flag 1 0 1 EE 1 I I lt systemiPL gt lt 4 4 1 IPL 4 i lt system IPL When the flag before issuing a service call is O Tas Servi II issued service call processin Task or Handler ervice call issu p g Handler flag ee i l l I IPL 4 lt systemiPL l lt 4 lt systemiPL lt 4 Figure 3 23 Interrupt control in a Service Call that can be Issued from a Task independent As shown in Figure 3 22 and Figure 3 23 the interrupt enable flag and IPL change in a service call For this reason if you want to disable interrupts in a user application Renesas does not recommend using the method for manipulating the inter rupt disable flag and IPL to disable the interrupts The following two methods for interrupt control are recommended 1 Modify the interrupt control register SFR for the interrupt you want to be disabled
71. cd get tid ID p tskid e Parameters ID p tskid Pointer to task ID e Return Parameters ER ercd Terminated normally E OK ID p tskid Pointer to task ID Assembly language API include mr8c inc get tid Parameters None Register contents after service call is issued Register name Content after service call is issued RO Error code A0 Acguired task ID Error code None Functional description This service call returns the task ID currently in RUNNING state to the area pointed to by p tskid If this service call is issued from a task the ID number of the issuing task is returned This service call can only be issued from task context and cannot be issued from non task context Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task ID tskid get tid stskid lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM AO get_tid 106 loc cpu Lock the CPU C Language API ER ercd loc_cpu e Parameters None Return Parameters ER ercd Terminated normally E OK Assembly language API include mr8c inc loc cpu e Parameters None Register contents after service call is issued Register name Content after service call is issued RO Error code Error code None Functiona
72. ch shows the end of start up processing 176 in Figure 7 11 Activate the initial startup task 182 in Figure 7 11 ff OO E a o pp 10 This is a system clock interrupt handler 221 236 in Figure 7 11 134 7 4 Memory Allocation This section describes how memory is allocated for the application program data Use the section file provided by MR8C 4 to set memory allocation MR8C 4 comes with the following two types of section files asm_sec inc This file is used when you developed your applications with the assembly language Refer to 7 4 1 for details about each section e c sec inc This file is used when you developed your applications with the C language c sec inc is derived from asm sec inc by adding sections generated by C compiler NC30 Refer to 7 4 2 for details about each section Modify the section allocation and start address settings in this file to suit your system The following shows how to modify the section file e g If you want to change the program section start address from F0000H to F1000H section program org 04000H Correct this address to 05000H y section program org O5000H 135 741 Section Allocation of start a30 The section allocation of the sample startup program for the assembly language start a30 is defined in asm sec inc Edit asm sec inc if section reallocation is required The following explains each section that is defined in the sample section de
73. cks in cases when an application is written in the C language and when an application is written in the assembly language When an application is written in the C language Using the stack caliculation utility calculate the stack size of each task The necessary stack size of a task is the sum of the stack size output by STK Viewer plus a context storage area of 20 bytes The following shows how to calculate a stack size using e When an application is written in the assembly language User stack size Sections used in user program size of registers used size of registers which are written as task context in cfg file 6 bytes PC FLG register size Sections used in MR8C 4 Sections used in user program The necessary stack size of a task is the sum of the stack size used by the task in subroutine call plus the size used to save registers to a stack in that task Sections used in MR8C 4 The sections used in MR8C 4 refer to a stack size that is used for the service calls issued When issuing multiple service calls include the maximum value of the stack sizes used by those service calls as the sections used by MR8C 4 as you calculate the necessary stack size Figure 3 1 shows an example for calculating a user stack In the example below the registers used by the task are RO RI R2 and A0 37 If written in the C language this size is fixed 166 Stack growing direction ch When use register RO R1 R2 A0 8byt
74. code E ILUSE be returned If this service call is to be issued from task context use chg pri Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task chg pri ID task2 2 lt lt Example statement in assembly language gt gt Include mr8c inc GLB task task pushm A0 R3 chg pri HID TASK3 1 61 5 2 Task Dependent Synchronization Function Specifications of the task dependent synchronization function are listed in below Table 5 3 Specifications of the Task Dependent Synchronization Function No Item Content 1 Maximum value of task wakeup request count 15 Maximum number of nested forcible task wait requests count 1 Table 5 4 List of Task Dependent Synchronization Service Call No Service Call Function System State T N E D U 1 slp tsk S B Puts task to sleep O O O 2 wup_tsk SI B Wakes up task O O O O 3 1wup_tsk SIB O O O O 4 can wup Cancels wakeup reguest O O O O 5 rel wai S B Releases task from waiting O O O O 6 irel_wai S B O O O O 7 sus tsk S B Suspends task O O O O 8 rsm_tsk S B Resumes suspended task O O O O 9 dly_tsk S B Delays task O O O Notes e S Standard profile service calls B Basic profile service calls e Each sign within System State is a following meanin
75. day relative to the time of day set by sta_alm The cyclic and alarm handlers are invoked by a subroutine call from the system clock interrupt timer interrupt handler Therefore cyclic and alarm handlers operate as part of the system clock interrupt handler Note that when the cyclic or alarm handler is invoked it is executed in the interrupt priority level of the system clock interrupt 28 Task System dock interrupt handler Cydic handler Alarm handler Subroutine call Timer interrupt Figure 3 20 Cyclic Handler Alarm Handler Activation 29 3 5 2 Dispatch Enabled Disabled States The system assumes either a dispatch enabled state or a dispatch disabled state In a dispatch disabled state no task sched uling is performed Nor can service calls be invoked that may cause the service call issuing task to enter a wait state The system can be placed into a dispatch disabled state or a dispatch enabled state by the dis dsp or ena dsp service call respectively Whether the system is in a dispatch disabled state can be known by the sns dsp service call 3 5 3 CPU Locked Unlocked States The system assumes either a CPU locked state or a CPU unlocked state In a CPU locked state all external interrupts are disabled against acceptance and task scheduling is not performed either The system can be placed into a CPU locked state or a CPU unlocked state by the loc cpu iloc cpu or unl_cpu iunl_cpu service call
76. duler to switch over tasks as necessary when returning from the interrupt handler When using the C language this function is automatically called at completion of the handler function In this case therefore there is no need to invoke this service call Figure 4 16 shows an interrupt processing flow Processing a series of operations from task selection to register restoration is called a scheduler TaskA NN Interrupt Save Registers Handler Processing iwup_tsk pragma INTHANDLER Declare C language TaskB Task Selection Figure 4 16 Interrupt process flow 79 In the case that the interruput handler is specified by pragma INTHANDLER 51 4 2 11 System Configuration Management Function This function inspects the version information of MR8C 4 References Version Information ref_ver The ref_ver service call permits the user to get the version information of MR8C 4 This version information can be obtained in the standardized format of JITRON specification 52 5 Service call reference 5 1 Task Management Function Specifications of the task management function of MR8C 4 are listed in Table 5 1 below The task description languages in item No 4 are those specified in the GUI configurator They are not output to a configuration file nor are the MR8C 4 kernel concerned with them The task stack permits a section name to be specified for each task individually Table 5
77. e SUSPENDED state WAITING SUSPENDED state DORMANT state Every task is in one of the above six different states Figure 3 16 shows task status transition 20 MPU exedusive right acquisition READY state WAITING state MPU execlusive right rel inquishment RUNNING state Entering the WAITING state WAITING state SUSPENDED state dear SUSPEND request pored ot Terminate from other task Gen task self from other task request from other task WAITING SU SPENDED state WAITING state dear SUSPENDED state DORMANT state Figure 3 16 MR8C 4 Task Status Transition SUSPEND request from other task SUSPENDED state dear reguest Forced termination reguest from other task Task acti vati on 1 RUNNING state In this state the task is being executed Since only one microcomputer is used it is natural that only one task is being executed The currently executed task changes into a different state when any of the following conditions occurs The task has normally terminated itself by ext_tsk service call The task has placed itself in the WAITING Since the service call was issued from the RUNNING state task the WAITING state of another task with a priority higher than the RUNNING state task is cleared Due to interruption or other event occurrence the interrupt handler has placed a different task having a higher priority in the READY state
78. e s el jamm jee ma 2 one jas jee pias 2 ne le je EE a 1 Slee Jesle 1 puda 2 sel IT oi led jes System Status Management Function parameter ReturnP ararreter ES SG SE E OM R E o EE me 2 je me 2 jee ES ma 2 lt jee ES me feces m a 56 je Time Management Function Parameter ReturnP arameter ServiceCall INTNO FuncCode Al R1 R3 AO RO FuncCode me 2 ml js je stp cyc 33 1 cycid ercd ESQUI EEE An ARE CA P EII RETIRE arm ars E jee mm a ja jee System Configuration Management Function Real time OS for R8C Family MR8C 4 User s Manual Publication Date August 1 2009 Rev 1 00 Sales Strategic Planning Div SES Renesas Technology Corp Application Engineering Department 1 Edited by Renesas Solutions Corp 2009 Renesas Technology Corp and Renesas Solutions Corp All rights reserved Printed in Japan MR8C 4 V 4 00 User s Manual ENESAS Renesas Electronics Corporation 1753 Shimonumabe Nakahara ku Kawasaki shi Kanagawa 211 8668 Japan REJ10J2040 0100
79. e calls can only be issued from task context and cannot be issued from non task context Example program statement lt lt Example statement in C language gt gt include lt itron h gt include lt kernel h gt include kernel id h void task if wai_sem ID sem E OK printf Forced wakeup n if pol_sem ID sem E OK printf Timeout n lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM AO pol sem HID SEM1 PUSHM AO wai_sem ID_ SEM2 81 5 4 Synchronization 8 Communication Function Eventflag Specifications of the eventflag function of MR8C 4 are listed in Table 5 7 Table 5 7 Specifications of the Eventflag Function No Item Content 1 EventOflag ID 1 255 2 Number of bits comprising 16 bits eventflag 3 Eventflag attribute TA_TFIFO Waiting tasks enqueued in order of FIFO TA_WSGL Multiple tasks cannot be kept waiting TA_WMUL Multiple tasks can be kept waiting TA_CLR Bit pattern cleared when waiting task is released Table 5 8 List of Eventflag Function Service Call No Service Call Function System State T N E D U L 1 set_flg S B Sets eventflag O O O O 2 iset flg S B O O O O 3 clr flg SIB Clears eventflag O O O O 4 wat Te SIB Waits for eventflag O O O 5 pol flg SIB Waits for eventflag O O O O polling Notes e
80. e has no data in it the task is kept waiting until data is transmitted to the data gueue e Receive from Data Queue prev do The data is received from the data gueue If the data gueue has no data in it the task returns error code without going to a data reception wait state 19 First In First Out 46 4 2 6 Time Management Function The time management function provides system time management and the functions of the alarm handler which actuates at preselected times and the cyclic handler which actuates at preselected time intervals The MR8C 4 kernel requires one timer for use as the system clock There are following time management service calls that are provided by the MR8C 4 kernel Note however that the system clock is not an essential function of MR8C 4 There fore if the service calls described below and the time management function of the MR8C 4 are unused a timer does not need to be occupied for use by MR8C 4 e Place a task in a finite time wait state by specifying a timeout value MR8C 4 guarantees that as stipulated in HITRON specification timeout processing is not performed until a time equal to or greater than the specified timeout value elapses More specifically timeout processing is performed with the following timing 1 If the delay time value is 0 for only dly_tsk The task times out at the first time tick after the service call is issued 2 If the delay time value is a multiple of time tick interv
81. e version V Option Displays the information on the files generated by the command Error messages cfg8c Error syntax error near line xxx xxxx cfg There is an syntax error in the configuration file cfg8c Error not enough memory Memory is insufficient cfg8c Error illegal option gt lt x gt The configurator s command option is erroneous cfg8c Error illegal argument gt lt xx gt The configurator s startup format is erroneous cfg8c Error can t write open lt XXXX gt The XXXX file cannot be created Check the directory attribute and the remaining disk capacity available cfg8c Error can t open lt XXXX gt The XXXX file cannot be accessed Check the attributes of the XXXX file and whether it actually exists cfg8c Error can t open version file The MR8C 4 version file version cannot be found in the directory indicated by the environment variable LIB8C cfg8c Error can t open default configuration file The default configuration file cannot be accessed default cfg is needed in the current directory or directory LIB8C specifying cfg8c Error can t open configuration file lt xxxx cfg gt The configuration file cannot be accessed Check that the file name has been properly designated cfg8c Error illegal XXXX gt lt xx gt near line xxx Xxxx cfg The value or ID number in definition item XXXX is incorrect Check the valid range of definition cfg8c Error Unknown XXXX gt lt x
82. ed RO TRUE CPU locked state FALSE CPUCPU unlocked state Error code None Functional description This service call returns TRUE when the system is in a CPU locked state or returns FALSE when the system is in a CPU unlocked state This service call can also be invoked from a CPU locked state Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task BOOL stat stat sns_loc lt lt Example statement in assembly language gt gt include mr8c inc GLB task task sns_loc dias sns dsp Reference dispatching state C Language API BOOL state sns dsp e Parameters None e Return Parameters BOOL state TRUE Dispatching disabled state FALSE Dispatching enabled state Assembly language API include mr8c inc sns dsp e Parameters None e Register contents after service call is issued Register name Content after service call is issued RO TRUE Dispatching disabled state FALSE Dispatching enabled state Error code None Functional description This service call returns TRUE when the system is in a dispatching disabled state or returns FALSE when the system is in a dispatching enabled state This service call can also be invoked from a CPU locked state Example program statement lt lt Example statement in C language gt gt include lt i
83. edded Workshop create a new project using MR8C 4 on High performance Embedded Workshop Coding the application program Write the application program in code form using C or assembly language If necessary correct the sample star tup program crtOmr a30 and section definition file c sec inc or asm sec inc Creating a configuration file Create a configuration file which has defined in it the task entry address stack size etc by using an editor The GUI configurator available for MR8C 4 may be used to create a configuration file Executing the configurator From the configuration file create system data definition files sys rom inc sys ram inc and include files mr8c inc kernel id h kernel sysint h System generation Execute the make command or execute build on High performance Embedded Workshop to generate a system Writing to ROM Using the ROM programming format file created write the finished program file into the ROM Or load it into the debugger to debug Figure 6 1 shows a detailed flow of system generation 1215 Configuration file S a MR8C 4 indude file Configurator eader file kernel h cfg8c Indude file kernel id h kernel sysint h Application Indudefile System data definition file include file mr8cinc sys ram inc sys rom inc i l Application Assembler source Application C source Startup program start a30 atOmr a30 J amp table
84. eee ete tree eee eee eee ee eee nenene KK KK Rt 98 Table 5 13 List of Cyclic Handler Function Service Call 98 Table 5 14 Specifications of the Alarm Handler Function ooncccoccconoccconcnono nono nnnrno nn nono rrnn nro rrnn rro rar rr 101 Table 5 15 List of Alarm Handler Function Service Call 101 Table 5 16 List of System Status Management Function Service Call 105 Table 5 17 List of Interrupt Management Function Service Call 116 Table 5 18 List of System Configuration Management Function Service Call 118 Table 7 1 C Language Variable TreatMent nnncnnconcnnnnnoncnnnnnnnrrnr rre 124 Table 8 1 Numerical Value Entry Exampl6S commiiccinonconicncnnnnnccnncrrn rr 139 Table 3 22 OPA ia ADA on 140 Table 8 3 Correspondence of fixed vector interrupt factor and vector number 153 Table 9 1 Functions in the Sample Program 161 Table 10 1 Stack Sizes Used by Service Calls ssued from Tasks in Dwtesl een 172 Table 10 2 Stack Sizes Used by Service Calls Issued from Handlers in bytes A 172 Table 10 3 Stack Sizes Used by Service Calls Issued from Tasks and Handlers in bytes 172 Table 11 1 Interrupt Number Assignment 1 User s Manual Organization The MR8C 4 User s Manual consists of nine chapters and thee appendix e 2 General Information Outlines the objective of MR8C 4 development and the function and position of the MR8C 4 e 3 Introduction to Kernel Explains about the ideas
85. eliability is assured The introduction of the real time OS makes it possible to carry out program evaluation and testing in the unit of a small module called task This feature facilitates evaluation and testing and increases software reliability The microcomputer performance can be optimized to improve the performance of microcom puter based products With the real time OS it is possible to decrease the number of unnecessary microcomputer operations such as I O waiting It means that the optimum capabilities can be obtained from microcomputers and this will lead to mi crocomputer based product performance improvement 2 2 Relationship between TRON Specification and MR8C 4 MR8C44 is the real time operating system developed for use with the RSC Family of 16 bit microcomputers compliant with UITRON 4 0 Specification uTTRON 4 0 Specification stipulates standard profiles as an attempt to ensure software port ability Of these standard profiles MR8C 4 has implemented in it many useful service calls 2 3 Features The MR8C 4 offers the following features 1 Real time operating system conforming to the ITORN Specification The MR8C 4 is designed in compliance with the JITRON Specification which incorporates a minimum of the ITRON Specification functions so that such functions can be incorporated into a one chip microcomputer As the ITRON Specification is a subset of the ITRON Specification most of the knowledge obtained from publis
86. emaphore The MR8C 4 kernel offers the following semaphore synchronization service calls e Release Semaphore Resource sig_sem isig_sem Releases one resource to the semaphore This service call wakes up a task that is waiting for the semaphores ser vice or increments the semaphore counter by 1 if no task is waiting for the semaphores service e Acquire Semaphore Resource wai_sem Waits for the semaphores service If the semaphore counter value is 0 zero the semaphore cannot be acquired Therefore the WAITING state prevails e Acquire Semaphore Resource pol_sem Acquires the semaphore resource If there is no semaphore resource to acquire an error code is returned and the WAITING state does not prevail 43 4 2 4 Synchronization and Communication Function Eventflag The eventflag is an internal facility of MR8C 4 that is used to synchronize the execution of multiple tasks The eventflag uses a flag wait pattern and a 16 bit pattern to control task execution A task is kept waiting until the flag wait conditions set are met It is possible to determine whether multiple waiting tasks can be engueued in one eventflag waiting gueue by specifying the eventflag attribute TA WSGL orTA WMUL Furthermore it is possible to clear the eventflag bit pattern to 0 when the eventflag meets wait conditions by specifying TA CLR for the eventflag attribute Figure 4 11 shows an example of task execution control by the eventflag using the w
87. endent microcomputers for various functions as indicated in the above example offers the following advan tages 1 Individual programs are small so that program development is easy 2 Itis very easy to use previously developed software 3 Completely independent programs are provided for various functions so that program devel opment can easily be conducted by a number of engineers On the other hand there are the following disadvantages 1 The number of parts used increases thereby raising the product cost 2 Hardware design is complicated 3 Product physical size is enlarged Therefore if you employ the real time OS in which a number of programs to be operated by a number of microcomputers are placed under software control of one microcomputer making it appear that the programs run on separate microcomput ers you can obviate all the above disadvantages while retaining the above mentioned advantages Figure 3 3 shows an example system that will be obtained if the real time OS is incorporated in the system indicated in Figure 3 2 Key input Remote control LED illumination Task Task Task real time OS Volume control Monitor Mechanical Task Task control Task Figure 3 3 Example System Configuration with Real time OS Audio Equipment In other words the real time OS is the software that makes a one microcomputer system look like operating a number of microcomputers In the real time OS the individual programs whic
88. ent interrupt handler as a function 7 Be sure to use the void type to declare the interrupt handler start function return value and argument At the beginning of file be sure to include itron h kernel h which is in the system di rectory as well as kernel dh which is in the current directory Do not use the ret int service call in the interrupt handler The static declared functions can not be registered as an interrupt handler include lt itron h gt include lt kernel h gt include kernel id h void inthand void process iwup tsk ID main Figure 7 3 Example of Kernel OS dependent Interrupt Handler 7 1 3 Writing Non kernel OS independent Interrupt Handler When describing the non kernel OS independent interrupt handler in C language observe the following precautions 1 Be sure to declare the return value and argument of the interrupt handler start function as a void type No service call can be issued from a non kernel an OS independent interrupt handler NOTE If this restriction is not observed the software may malfunction A function that is declared to be static cannot be registered as an interrupt handler H you want multiple interrupts to be enabled in a non kernel an OS independent interrupt handler always make sure that the non kernel OS independent interrupt handler is as signed a priority level higher than other kernel OS dependent interrupt handlers
89. er words engineers engaged in microcomputer software development are now required to develop larger size pro grams within a shorter period of time To meet such stringent requirements it is necessary to take the following considera tions into account 1 Toenhance software recyclability to decrease the volume of software to be developed One way to provide for software recyclability is to divide software into a number of functional modules wherever possible This may be accomplished by accumulating a number of general purpose subroutines and other program segments and using them for program development In this method however it is difficult to reuse programs that are dependent on time or timing In reality the greater part of application programs are dependent on time or tim ing Therefore the above recycling method is applicable to only a limited number of programs 2 To promote team programming so that a number of engineers are engaged in the development of one software package There are various problems with team programming One major problem is that debugging can be initiated only when all the software program segments created individually by team members are ready for debugging It is es sential that communication be properly maintained among the team members 3 To enhance software production efficiency so as to increase the volume of possible software development per engineer One way to achieve this target would be to educate e
90. errupt Management Module Makes a return from the interrupt handler e Time Management Module Sets up the system timer used by the MR8C 4 kernel and starts the user created alarm handler and cyclic han dler e System Status Management Module Gets the system status of MR8C 4 e System Configuration Management Module Reports the MR8C 4 kernel version number or other information Sync Communication Module This is the function for synchronization and communication among the tasks The following three functional modules are offered Eventflag Checks whether the flag controlled within the MR8C 4 is set up and then determines whether or not to initi ate task execution This results in accomplishing synchronization between tasks Semaphore Reads the semaphore counter value controlled within the MR8C 4 and then determines whether or not to initiate task execution This also results in accomplishing synchronization between tasks Data queue Performs 16 bit data communication between tasks A This handler actuates once only at preselected times This handler periodically actuates 36 4 2 1 Task Management Function The task management function is used to perform task operations such as task start stop and task priority updating The MR8C 4 kernel offers the following task management function service calls e Activate Task sta tsk ista tsk Activates the task changing its status from DORMANT to either READY or
91. es 2bytes jsr subl 12bytes PC FL G size of registers used 16bytes PC FLG size of registers used stack size used by prev msg lt gt prev dro 18bytes Figure 10 3 Example of Use Stack Size Calculation 167 10 1 2 System Stack Calculation Method The system stack is most often consumed when an interrupt occurs during service call processing followed by the occur rence of multiple interrupts The necessary size the maximum size of the system stack can be obtained from the fol lowing relation Necessary size of the system stack a 2Pi y c The maximum system stack size among the service calls to be used When sta_tsk ext_tsk slp tsk and dly_tsk are used for example according to the Table 10 1 Stack Sizes Used by Service Calls Issued from Tasks in bytes each of system stack size is the following Service Call name System Stack Size sta_tsk 2bytes ext_tsk Obytes slp tsk 2bytes dly_tsk 4bytes Therefore the maximum system stack size among the service calls to be used is the 8 bytes of dly_tsk Ofi The stack size to be used by the interrupt handler The details will be described later ey Stack size used by the system clock interrupt handler This is detailed later After switchover from user stack to system stack Beier from Table 10 1 Stack Sizes Used by Service Calls Issued from Tasks in bytes to Table 10 3 Stack Sizes Used by Service C
92. es refer to the MR8C 4 Reference Manual Reguirements for MR8C 4 Use When creating programs based on the MR8C 4 it is necessary to purchase the following product of Renesas C compiler package M3T NC30WA abbreviated as NC30 for the M16CSeries and R8C Family micro computers Document List The following sets of documents are supplied with the MR8C 4 e Release Note Presents a software overview and describes the corrections to the Users Manual and Reference Manual e Users Manual PDF file Describes the procedures and precautions to observe when using the MR8C 4 for programming purposes Right of Software Use The right of software use conforms to the software license agreement You can use the MR8C 4 for your product develop ment purposes only and are not allowed to use it for the other purposes You should also note that this manual does not guarantee or permit the exercise of the right of software use 1 Hereinafter abbreviated real time OS uITRON4 0 Specification is the open real time kernel specification upon which the TRON association decided The specification document of ulTRON4 0 specification can come to hand from a TRON association homepage http www assoc tron org The copyright of uITRON4 0 specification belongs to the TRON association Contents Requirements for MR8C 4 USE 2 oee eee eee eee een ENEE i Document DEE i Right of Software U EE i Content EE iii BC ge gel vii ge ORT ix
93. esume suspended task C Language API ER ercd rsm_tsk ID tskid e Parameters ID tskid ID number of the target task e Return Parameters ER ercd Terminated normally E OK or error code Assembly language API include mr8c inc rsm tsk TSKID Parameters TSKID ID number of the target task Register contents after service call is issued Register name Content after service call is issued RO Error code A0 ID number of the target task Error code E OBJ Object status invalid task indicated by tskid is not a forcible wait state Functional description If the task indicated by tskid has been aborted by sus_tsk this service call resumes the target task from SUSPENDED state In this case the target task is linked to behind the tail of the ready queue If a request is issued while the target task is not in SUSPENDED state including DORMANT state the error code E OBJ is returned to the service call issuing task The rsm_tsk service call each operate the same way because the maximum number of forcible wait requests that can be nested is 1 This service call can only be issued from task context and cannot be issued from non task context 73 Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task1 if rsm_tsk ID main E OK printf Can t resume main n lt
94. f time Figure 4 7 shows an example in which execution of a task is kept waiting for 10 ms by the dly tsk service call The delay time value should be specified in ms units and not in time tick units dly tsk 10 Ttak lt ee Figure 4 7 dly tsk service call 41 4 2 3 Synchronization and Communication Function Semaphore The semaphore is a function executed to coordinate the use of devices and other resources to be shared by several tasks in cases where the tasks simultaneously require the use of them When for instance four tasks simultaneously try to acguire a total of only three communication lines as shown in Figure 4 8 communication line to task connections can be made without incurring contention Communication Line Communication Line Communication Line Semaphore x Figure 4 8 Exclusive Control by Semaphore The semaphore has an internal semaphore counter In accordance with this counter the semaphore is acguired or released to prevent competition for use of the same resource See Figure 4 9 Acauired Returned after use Figure 4 9 Semaphore Counter 42 Figure 4 10 shows example task execution control provided by the wai sem and sig sem service calls Wal sem sig sem Task oo wai_sem Task l e wai_sem E E A Wal sem Task o WAIT state s l I Semaphore 3 2 1 0 Se 0 Counter Figure 4 10 Task Execution Control by S
95. figure shows the state prevailing after register storage Key input task stack Key input Register stored SFR Figure 3 8 Actual Register and Stack Area Management 12 3 2 Service Call How does the programmer use the kernel functions in a program First it is necessary to call up kernel function from the program in some way or other Calling a kernel function is referred to as a service call Task activation and other processing operations can be initiated by such a service call See Figure 3 9 Key input pe ve Task as Service call Task switching Figure 3 9 Service call This service call is realized by a function call when the application program is written in C language as shown below sta tsk ID main 3 Furthermore if the application program is written in assembly language it is realized by an assembler macro call as shown below sta tsk HID main 3 13 3 2 1 Service Call Processing When a service call is issued processing takes place in the following seguence 1 2 3 4 5 6 The current register contents are saved The stack pointer is changed from the task type to the real time OS system type Processing is performed in compliance with the reguest made by the service call The task to be executed next is selected The stack pointer is changed to the task type The register contents are recovered to resume task execution The flowchart in Figure 3
96. file mrtable a30 Relocatable Assembl er as30 Create amp table utility mrg8ctbl file mrc C standard Application MR8C 4 Library object Library Linkage Editor In30 Absolute module Load module converter Imc30 ROM write format Figure 6 1 MR8C 4 System Generation Detail Flowchart 122 7 Detailed Applications 7 1 Program Coding Procedure in C Language 7 1 1 Task Description Procedure 1 Describe the task as a function To register the task for the MR8C 4 enter its function name in the configuration file When for instance the function name task is to be registered as the task ID number 3 proceed as follows task 3 name ID task entry address task stack size 100 priority 3 ya 2 At the beginning of file be sure to include itron h kernel h which is in system directory as well as kernel id h which is in the current directory That is be sure to enter the fol lowing two lines at the beginning of file include lt itron h gt include lt kernel h gt include kernel id h 3 No return value is provided for the task start function Therefore declare the task start function as a void function A function that is declared to be static cannot be registered as a task It isn t necessary to describe ext tsk at the exit of task start function If you exit the task from the subroutine in task start function please
97. finition file asm sec inc MR RAM DBG section This section is stored MR8C 4 s debug function RAM data This section must be mapped in the Internal RAM area e MR RAM section This section is where the RAM data MR8C 4 s system management data is stored that is referenced in absolute addressing This section must be mapped in the Internal RAM area e stack section This section is provided for each task s user stack and system stack This section must be mapped in the Internal RAM area e MR KERNEL section This section is where the MR8C 4 kernel program is stored MR CF section This section stores the MR8C 4 C language interface library MR ROM section This section stores data such as task start addresses that area referenced by the MR8C 4 kernel program section This section stores user programs This section is not used by the MR8C 4 kernel at all Therefore you can use this section as desired INTERRUPT VECTOR section FIX INTERRUPT VECTOR section This section stores interrupt vectors 136 7 4 2 Section Allocation of crtOmr a30 The section allocation of the sample startup program for the C language crtOmr a30 is defined in c sec inc Edit c sec inc if section reallocation is required The sections defined in the sample section definition file c sec inc include the following sections that are defined in the section definition file asm_sec inc of the sample startup program for t
98. g 4 4 4 T N E D U L Can be called from task context Can be called from non task context Can be called from dispatch enabled state Can be called from dispatch disabled state Can be called from CPU unlocked state Can be called from CPU locked state 62 slp tsk Put task to sleep C Language API ER ercd slp tsk Parameters None e Return Parameters ER ercd Terminated normally E OK or error code Assembly language API include mr8c inc slp tsk e Parameters None e Register contents after service call is issued Register name Content after service call is issued RO Error code Error code E RLWAI Forced release from waiting 63 Functional description This service call places the issuing task itself from RUNNING state into sleeping wait state The task placed into WAIT ING state by execution of this service call is released from the wait state in the following cases When a task wakeup service call is issued from another task or an interrupt The error code returned in this case is E OK When a forcible awaking service call is issued from another task or an interrupt The error code returned in this case is E RLWAL If the task receives sus_tsk issued from another task while it has been placed into WAITING state by this service call it goes to WAITING SUSPENDED state In this case even when the task is released from WAITING state by a
99. g Stop operating Alarm handler created Activation time Activation time Handler starts Handler does not start Figure 4 15 Typical operation of the alarm handler e Start Alarm Handler Operation sta alm Causes the alarm handler with the specified ID to operational state Stop alarm Handler Operation stp alm Causes the alarm handler with the specified ID to non operational state 49 4 2 9 System Status Management Function Reference task ID in the RUNNING state get_tid References the ID number of the task in the RUNNING state Lock the CPU loc cpu Places the system into a CPU locked state Unlock the CPU unl cpu Frees the system from a CPU locked state Disable dispatching dis dsp Places the system into a dispatching disabled state Enable dispatching ena dsp Frees the system from a dispatching disabled state Reference context sns ctx Gets the context status of the system Reference CPU state sns loc Gets the CPU lock status of the system Reference dispatch disabling state sns dsp Gets the dispatch disabling status of the system 50 4 2 10 Interrupt Management Function The interrupt management function provides a function to process reguested external interrupts in real time The interrupt management service calls provided by the MR8C 4 kernel include the following e Returns from interrupt handler ret int The ret_int service call activates the sche
100. g describes task handling when dispatch is temporarily delayed by using these service calls 1 When the execution task in delay dispatching should be preempted While dispatch is disabled even under conditions where the task under execution should be preempted no time is dispatched to new tasks that are in an executable state Dispatching to the tasks to be executed is delayed until the dispatch disabled state is cleared When dispatch is being delayed e Task under execution is in a RUNNING state and is linked to the ready queue e Task to be executed after the dispatch disabled state is cleared is in a READY state and is linked to the highest priority ready queue among the queued tasks 2 Precautions e No service call e g slp tsk wai sem can be issued that may place the own task in a wait state while in a state where dispatch is disabled by dis_dsp loc_cpu or iloc_cpu e ena dsp and dis dsp cannot be issued while in a state where interrupts and dispatch are disabled by loc cpu iloc cpu e Disabled dispatch is re enabled by issuing ena dsp once after issuing dis dsp several times The above status transition can be summarized in Table 3 3 11 4Regarding Initially Activated Task MR8C 4 allows you to specify a task that starts from a READY state at system startup This specification is made by set ting the configuration file Refer to 8 1 2 for details on how to set 12 Appendix 12 1 Assembly Language Interface When iss
101. gement outside OS independence Figure 3 21 shows the relationship between the non kernel OS independent interrupt handlers and kernel OS dependent interrupt handlers where the kernel mask level OS interrupt disable level is set to 3 3 6 2 Kernel mask level OS Interrupt disable level Kernel Non kernel OS dependent OS independent Interrupt handler Interrupt handler Figure 3 21 Interrupt handler IPLs The Use of Non maskable Interrupt An NMI interrupt and Watchdog Timer interrupt have to use be a non kernel OS independent interrupt handler If they are a kernel OS dependent interrupt handler the program will not work normally 31 3 6 3 Controlling Interrupts Interrupt enable disable control in a service call is accomplished by IPL manipulation The IPL value in a service call is set to the kernel mask level OS interrupt disable level system IPL in order to disable interrupts for the kernel OS dependent interrupt handler In sections where all interrupts can be enabled it is returned to the initial IPL value when the service call was invoked e For service calls that can be issued from only task context When the flag before issuing a service call is 1 Task Service call issued Service call processing l flag 1 0 lt 1 bn 1 IPL D system IPL le 0 lt systemIPL lt 0 When the I flag before issuing a service call is 0 Task Service call issued Service
102. gram is not completed yet Since engineers can be allocated to individual tasks work assignment is easy 3 Software independence is enhanced to provide ease of program debugging As the use of the real time OS makes it possible to divide programs into small independent modules called tasks the greater part of program debugging can be initiated simply by observing the small modules Timer control is made easier To perform processing at 10 ms intervals the microcomputer timer function was formerly used to periodically in itiate an interrupt However as the number of usable microcomputer timers was limited timer insufficiency was compensated for by for instance using one timer for a number of different processing operations When the real time OS is introduced however it is possible to create programs for performing processing at fixed time intervals making use of the real time OS time management function without paying special attention to the microcomputer timer function At the same time programming can also be done in such a manner as to let the programmer take that numerous timers are provided for the microcomputer Software maintainability is enhanced When the real time OS is put to use the developed software consists of small program modules called tasks Therefore increased software maintainability is provided because developed software maintenance can be carried out simply by maintaining small tasks Increased software r
103. h correspond to a number of microcomputers used in a conventional sys tem are called tasks 3 1 2 Operating Principles of Kernel A kernel is the core program of real time OS The kernel is the software that makes a one microcomputer system look like operating a number of microcomputers You should be wondering how the kernel makes a one microcomputer system function like a number of microcomputers As shown in Figure 3 4 the kernel runs a number of tasks according to the time division system That is it changes the task to execute at fixed time intervals so that a number of tasks appear to be executed simultaneously Key input Task Remote control Task LED illumination Task Volume control Task Monitor Task Mechanical control Task ct Time Figure 3 4 Time division Task Operation As indicated above the kernel changes the task to execute at fixed time intervals This task switching may also be referred to as dispatching The factors causing task switching dispatching are as follows Task switching occurs upon request from a task e Task switching occurs due to an external factor such as interrupt When a certain task is to be executed again upon task switching the system resumes its execution at the point of last inter ruption See Figure 3 5 10 Program execution Program execution interrupt resumed Key input Task During this interval it Remote control appears that the
104. he assembly language e data SE section e bes SE section e data SO section e bes SO section e data NE section e bes NE section e data NO section e bes NO section rom NE section rom NO section e data SEI section e data GO section e data NEI section e data NOI section These sections are those that are generated by NC30 These sections are not defined in the section file for the as sembly language Refer to the NC30 manual for details The diagram below shows the section allocation in the sample startup program See Figure 7 12 Selection Allocation in C Language Startup Program 137 004000H OOF DOOH OOF FDCH MR_RAM_DBG MR_RAM I Section generated by NC30 stack MR_HEAP Section generated by NC30 Section generated by NC30 MR_KERNEL E a a GE MR_CIF MR_ROM program INTERRUPT_VECTOR FIX_INTERRUPT_VECTOR 138 data_SE P bss SE data SO bss SO data NE bss NE data NO bss NO rom NE on rom_FE rom_FO data GEI data GO data NEI data NOI switch table X This section is nolinked when the program is written in the assembly language Figure 7 12 Selection Allocation in C Language Startup Program 8 Using Configurator 8 1 Configuration File Creation Procedure When applications program coding and startup program modification are completed it is then necessary to register the ap pl
105. hed ITRON textbooks and ITRON seminars can be used as is Further the application programs developed using the real time operating systems conforming to the ITRON Specification can be transferred to the MR8C 4 with comparative ease High speed processing is achieved MR8C 4 enables high speed processing by taking full advantage of the microcomputer architecture Only necessary modules are automatically selected to constantly build up a system of the minimum size MR8C 4 is supplied in the object library format of the R8C Family Therefore the Linkage Editor LN30 functions are activated so that only necessary modules are automatically se lected from numerous MR8C 4 functional modules to generate a system Thanks to this feature a system of the minimum size is automatically generated at all times An upstream process tool named Configurator is provided to simplify development proce dures A configurator is furnished so that various items including a ROM write form file can be created by giving simple definitions Therefore there is no particular need to care what libraries must be linked In addition a GUI version of the configurator is available It helps the user to create a configuration file without the need to learn how to write it 3 Introduction to Kernel 3 1 Concept of Real time OS This section explains the basic concept of real time OS 3 1 1 Why Real time OS is Necessary In line with the recent advances in semic
106. ic handler O olojo operation 2 stp_cyc S B Stops cyclic handler O OoO O0 0 operation e S Standard profile service calls B Basic profile service calls e Each sign within System State is a following meaning 4 4 T Can be called from task context N Can be called from non task context E Can be called from dispatch enabled state D Can be called from dispatch disabled state U Can be called from CPU unlocked state L Can be called from CPU locked state 98 sta cyc Start cyclic handler operation C Language API ER ercd sta_cyc ID cycid Parameters ID cycid ID number of the cyclic handler to be operated Return Parameters ER ercd Terminated normally E_OK Assembly language API include mr8c inc sta cyc CYCNO e Parameters CYCNO ID number of the cyclic handler to be operated Register contents after service call is issued Register name Content after service call is issued RO Error code A0 ID number of the cyclic handler to be operated Error code None Functional description This service call places the cyclic handler indicated by cycid into an operational state If the cyclic handler attribute of TA PHS is not specified the cyclic handler is started every time the activate cycle elapses start with the time at which this service call was invoked If while TA PHS is not specified this service call is issued to a cyclic
107. ications program in the MR8C 4 system This registration is accomplished by the configuration file 8 1 1 Configuration File Data Entry Format This chapter describes how the definition data are entered in the configuration file Comment Statement A statement from to the end of a line is assumed to be a comment and not operated on End of statement Statements are terminated by Numerical Value Numerical values can be entered in the following format 1 Hexadecimal Number Add 0x or OX to the beginning of a numerical value or h or H to the end If the value begins with an al phabetical letter between A and F with h or H attached to the end be sure to add 0 to the beginning Note that the system does not distinguish between the upper and lower case alphabetical characters A F used as numerical values 2 Decimal Number Use an integer only as in 23 However it must not begin with 0 3 Octal Numbers Add 0 to the beginning of a numerical value of O or o to end 4 Binary Numbers Add B or b to the end of a numerical value It must not begin with 0 Table 8 1 Numerical Value Entry Examples Oxf12 Oxf12 0a12h Hexadecimal 0a12H 12h 12H Decimal 32 017 Octal 170 170 Binary 101110b 101010B The system distinguishes between the upper and lower case letters except for the numbers A F and a f
108. igure 10 5 Stack size to be used by Kernel Interrupt Handler 170 vii viii List of Tables Table 3 1 Task Context and Non task Conter 28 Table 3 2 Invocable Service Calls in a CPU Locked Gtate AAA 30 Table 3 3 CPU Locked and Dispatch Disabled State Transitions Relating to dis dsp and loc CPU z 30 Table 5 1 Specifications of the Task Management FUNCTION 4 cette etee eter eee seaesaesaeeaesaesaeetaeteetaeesaeenaes 53 Table 5 2 List of Task Management Function Service Call 53 Table 5 3 Specifications of the Task Dependent Synchronization FUNCION ssssesssssssssissisrrerssririnerntintitinennsrnnnnnrnrinena 62 Table 5 4 List of Task Dependent Synchronization Service Call 62 Table 5 5 Specifications of the Semaphore F UNCtION e ce eeceeccec ee teeteeetee eee ease ee2e 4200 eee ee eee nene n KE KE K R EKK KKK KKK 77 Table 5 6 List of Semaphore Function Service Call 71 Table 5 7 Specifications of the Eventflag FUNCION e e e ee eee eee eee eee eee eee nenene KE KK EK EK KEE K EK EK KPK 82 Table5 8 List of Eventflag Function Service Call 82 Table 5 9 Specifications of the Data Queue FUNCION cccccocccoccnononcconnnononaconcnonn cnc n nn rar ancora rr 90 Table 5 10 List of Dataqueue Function Service Call 90 Table 5 11 List of Time Management Function Service Call 96 Table 5 12 Specifications of the Cyclic Handler FUNCION 2 0 ee eeceeceeeee
109. in System State is a following meaning T Can be called from task context N Can be called from non task context E Can be called from dispatch enabled state D Can be called from dispatch disabled state U Can be called from CPU unlocked state L Can be called from CPU locked state 90 snd dtg Send to data gueue psnd dtg Send to data gueue polling ipsnd dtg Send to data gueue polling handler only C Language API ER ercd snd_dtq ID dtgid VP INT data ER ercd Gand dtg ID dtqid VP INT data ER ercd ipsnd_dtq ID dtgid VP INT data Parameters ID dtgid ID number of the data gueue to which transmitted VP INT data Data to be transmitted e Return Parameters ER ercd Terminated normally E OK or error code Assembly language API include mr8c inc snd dro DTOID DTODATA psnd_dtq DTOID DTODATA ipsnd_dtq DTOID DTODATA e Parameters DTQID ID number of the data queue to which transmitted DTODATA Data to be transmitted e Register contents after service call is issued Register name Content after service call is issued RO Error code RI Data to be transmitted A0 ID number of the data gueue to which transmitted Error code E RLWAI Forced release from waiting E TMOUT Polling failure Functional description This service call sends the 2 byte data indicated by data to the data queue indicated by dtqid If any task is kept waiting for recept
110. ing Initially Activated Taek AA APPO TEE 12 1 Assembly Language nterface ee eeee eee eee eee eee eee na rene vi List of Figures Figure 3 1 Relationship between Program Size and Development Period 7 Figure 3 2 Microcomputer based System Example Audio Equipment ceeceec eee tire eee eee teeetee eee eee eee een nn 8 Figure 3 3 Example System Configuration with Real time OS Audio Equipment eee eee eee eee nenene 9 Figure 3 4Time division Task Oper at uc fixu kdy dee neal a ec kap eaten alin 10 Figure 3 5 Task Execution Interruption and Resumption eect eens eeee tens enae eee eee nr 11 Figure 6 Task ee Tue WEE 11 Figure3 7 Task Register Aren viii aae aaaea aaa Dd E AAAA a Ta AEA a EE NENNEN 12 Figure 3 8 Actual Register and Stack Area Management 12 Figure3 9 UE 13 Figure 3 10 Service Call Processing Flowchart ssesssssssresessrssrsrantnttnsrattntnat tutant Kane KAR KA RLE K PEK K KE K EE E K EENEN K EK KKK 14 Figure 3 11 Processing Procedure for a Service Call a Handler that caused an interrupt during Task Execution 16 Figure 3 12 Processing Procedure for a Service Call from a Handler that caused an interrupt during Service Call Processing 17 Figure 3 13 Processing Procedure for a service call from a Multiplex interrupt Handler AAA 18 Figure3 14 Task Identification tias 19 Fi Qure Sil Task Saus aia 20 Figure 3 16 MR8C 4 Task Status Transition
111. ion Method 10 1Stack Size Calculation Method The MR8C 4 provides two kinds of stacks the system stack and the user stack The stack size calculation method differ between the stacks O User stack This stack is provided for each task Therefore writing an application by using the MR8C 4 requires to allocate the stack area for each stack O System stack This stack is used inside the MR8C 4 or during the execution of the handler When a task issues a service call the MR8C 4 switches the user stack to the system stack See Figure 10 1 System Stack and User Stack The system stack uses interrupt stack ISP Task M8 4 Servi ce Gall Processi ng Posi ti on Register save Stack switching User Stack System Stack XXX XXX F interruput stack Task Selection Stack switching Register return User Stack Figure 10 1 System Stack and User Stack The sections of the system stack and user stack each are located in the manner shown below However the diagram shown below applies to the case where the stack areas for all tasks are located in the stack section during configuration 164 SFR System Stack User satck of Taskl D No 1 User satck of Taskl D Nb 2 User satck of Taskl D No n Stack Section Figure 10 2 Layout of Stacks 165 10 1 1 User Stack Calculation Method User stacks must be calculated for each task The following shows an example for calculating user sta
112. ion in the target data queue the data is not stored in the data queue and instead sent to the task at the top of the recep tion waiting queue with which the task is released from the reception wait state On the other hand if snd_dtq is issued for a data queue that is full of data the task that issued the service call goes from RUNNING state to a data transmission wait state and is enqueued in transmission waiting queue kept waiting for the data queue to become available In that case if the attribute of the specified data queue is TA TFIFO the task is enqueued in order of FIFO For psnd_dtq and ipsnd_dtq the task returns immediately and responds to the call with the error code E_TMOUT If there are no tasks waiting for reception nor is the data queue area filled the transmitted data is stored in the data queue The task placed into WAITING state by execution of the snd_dtq service call is released from WAITING state in the fol lowing cases When the rcv_dtq or prev_dtq service call is issued with task awaking conditions thereby satis fied The error code returned in this case is E_OK When the task is forcibly released from WAITING state by the rel wai or irel_wai service call is sued from another task or a handler The error code returned in this case is E RLWAI These service calls can only be issued from task context and cannot be issued from non task context 91 Example program statement lt lt Example statement
113. is executed in an interrupt handler task switching does not occur and task switching is postponed until the interrupt handler terminates However if the ret int service call is issued from an interrupt handler that was invoked from an interrupt that occurred within another interrupt the scheduler is not activated The scheduler is activated for interrupts from a task only When writing this service call in assembly language be aware that the service call cannot be issued from a subroutine that is invoked from an interrupt handler entry routine Always make sure this service call is executed in the entry routine or entry function of an interrupt handler For example a program like the one shown below may not operate normally include mr8c inc NG GLB intr intr jsr b func func ret int Therefore write the program as shown below include mr8c inc OK GLB intr intr jsr b func ret_int func TES Make sure this service call is issued from only an interrupt handler If issued from a cyclic handler alarm handler or a task this service call may not operate normally 2 If the starting function of an interrupt handler is declared by pragma INTHANDLER the ret int service call is automatically issued at the exit of the function 117 5 11 System Configuration Management Function Table 5 18 List of System Configuration Management Function Service Call No Service Call Func
114. itch is assumed in which case multiple interrupts another interrupt within an interrupt are enabled If F is specified the F switch is assumed in which case the FREIT instruction is output at return from the in terrupt handler If B is specified the B switch is assumed in which case register bank 1 is specified Two or more switches can be specified at the same time For kernel OS dependent interrupt handlers however only the E switch can be specified For non kernel OS independent interrupt handlers the E F and B switches can be specified subject to a limitation that E and B cannot be specified at the same time Precautions 152 1 Regarding the method for specifying a register bank A kernel OS dependent interrupt handler that uses register bank 1 cannot be written in C language Such an interrupt han dler can only be written in assembly language When writing in assembly language make sure the statements at the entry and exit of the interrupt handler are written as shown below Always be sure to clear the B flag before issuing the ret int service call Example interrupt fset B fclr B ret_int Internally in the MR8C 4 kernel register banks are not switched over 2 Regarding the method for specifying a high speed interrupt To ensure an effective use of high speed interrupts make sure the registers of register bank 1 are used in the high speed interrupt Note also that high speed i
115. l 37 printf task2 running n 38 sig sem ID seml 39 40 41 42 e cyhl VP INT exinf 43 44 iwup tsk ID taskl 45 46 162 9 3 Configuration File al J BRK KR KR KR RK RK KR RRR RK KR RK RR KK RK RR RR RR RRR RR RR RR KK RRR k k 2 3 COPYRIGHT C 2009 RENESAS TECHNOLOGY CORPORATION 4 AND RENESAS SOLUTIONS CORPORATION ALL RIGHTS RESERVED 5 6 MR8C 4 System Configuration File 7 SId smp cfg v 1 5 2005 06 15 05 41 54 inui Exp 8 9 tele e A 10 11 System Definition 12 system 13 stack size 1024 14 priority 10 15 system IPL 4 16 tic nume zle 17 tic deno 1 18 19 System Clock Definition 20 clock 21 mpu_clock 20MHz 22 timer A0 23 IPL 4 24 25 Task Definition 26 27 task 28 entry address main 29 name ID main 30 stack size 100 31 priority dy 32 initial start ON 33 5 34 task 35 entry address taskl 36 name ID taskl 37 stack size 500 38 priority e 25 39 40 task 41 entry address task2 42 name ID_task2 43 stack size 500 44 priority 85 45 y 46 47 semaphore 48 name ID seml 49 max count 1 50 initial count 1 51 52 53 cyclic hand 1 54 name ID cyhl 55 interval_counter 100 56 start OFF 57 phsatr OFF 58 phs counter 40 59 entry address cyh1 60 exinf 1 61 163 10 Stack Size Calculat
116. l description This service call places the system into a CPU locked state thereby disabling interrupts and task dispatches The features of a CPU locked state are outlined below 1 No task scheduling is performed during a CPU locked state 2 No external interrupts are accepted unless their priority levels are higher than the kernel interrupt mask level defined in the configurator 3 Only the following service calls can be invoked from a CPU locked state If any other service calls are invoked operation of the service call cannot be guaranteed ext tsk loc cpu unl cpu sns_ctx sns loc sns_dsp The system is freed from a CPU locked state by one of the following operations a Invocation of the unl cpu service call b Invocation of the ext_tsk service call Transitions between CPU locked and CPU unlocked states occur only when the loc_cpu unl_cpu or ext_tsk service call is invoked The system must always be in a CPU unlocked state when the interrupt handler or the time event handler is ter minated If either handler terminates while the system is in a CPU locked state handler operation cannot be guaranteed Note that the system is always in a CPU unlocked state when these handlers start Invoking this service call again while the system is already in a CPU locked state does not cause an error in which case task queuing is not performed however This service call can only be issued from task context and cannot be iss
117. le program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task stp_cyc ID cycl lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM A0 stp cyc HID_CYC1 100 5 8 Time Management Function Alarm Handler Specifications of the alarm handler function of MR8C 4 are listed in Table 5 14 The alarm handler description languages in item No 4 are those specified in the GUI configurator They are not output to a configuration file nor are the MR8C 4 kernel concerned with them Table 5 14 Specifications of the Alarm Handler Function No Item Content 1 Alarm handler ID 1 255 2 Activation time 0 7fffffff ms 3 Extended information 16 bits 4 Alarm handler attribute TA HLNG Handlers written in high level language TA ASM Handlers written in assembly language Table 5 15 List of Alarm Handler Function Service Call No Service Call Function System State T N E D U L 1 sta_alm Starts alarm handler operation O Olo Oo 2 stp_alm Stops alarm handler operation O olo Oo Notes e S Standard profile service calls B Basic profile service calls e Each sign within System State is a following meaning T Can be called from task context N Can be called from non task context E Can
118. n the system directory 2 For the symbol indicating the handler start address make the external declaration Always use the RTS instruction subroutine return instruction to return from cyclic han dlers and alarm handlers For examples INCLUDE mr8c inc 1 GLB cychand 2 cychand handler process rts ee 3 Figure 7 10 Example Handler Written in Assembly Language 3 Use the GLB pseudo directive 129 7 3 Modifying MR8C 4 Startup Program MR8C 4 comes with two types of startup programs as described below start a30 This startup program is used when you created a program using the assembly language crtOmr a30 This startup program is used when you created a program using the C language This program is derived from start a30 by adding an initialization routine in C language The startup programs perform the following Initialize the processor after a reset Initialize C language variables crtOmr a30 only e Set the system timer e Initialize MR8C 4 s data area Copy these startup programs from the directory indicated by environment variable LIB8C to the current directory If necessary correct or add the sections below e Setting processor mode register Set a processor mode matched to your system to the processor mode register 53th line in crtOmr a30 e Adding user required initialization program When there is an initialization program that is required for you
119. n use conditions Further Renesas Electronics products are not subject to radiation resistance design Please be sure to implement safety measures to guard them against the possibility of physical injury and injury or damage caused by fire in the event of the failure of a Renesas Electronics product such as safety design for hardware and software including but not limited to redundancy fire control and malfunction prevention appropriate treatment for aging degradation or any other appropriate measures Because the evaluation of microcomputer software alone is very difficult please evaluate the safety of the final products or system manufactured by you Please contact a Renesas Electronics sales office for details as to environmental matters such as the environmental compatibility of each Renesas Electronics product Please use Renesas Electronics products in compliance with all applicable laws and regulations that regulate the inclusion or use of controlled substances including without limitation the EU RoHS Directive Renesas Electronics assumes no liability for damages or losses occurring as a result of your noncompliance with applicable laws and regulations This document may not be reproduced or duplicated in any form in whole or in part without prior written consent of Renesas Electronics Please contact a Renesas Electronics sales office if you have any questions regarding the information contained in this document or Renesas Electronics
120. name ID name entry address Start address exitf Extended information W The ID number must be in the range of 1 to 255 The ID number can be omitted If omitted numbers are automatically assigned seguentially beginning with the smallest lt lt Content gt gt Define the following for each alarm handler ID number 1 ID name Definition format Symbol Definition range None Default value None Define the name by which the alarm handler is specified in a program 2 Start address Definition format Symbol or Function Name Definition range None Define the start address of the alarm handler The function name defined here causes the following declaration statement to be output in the kernel id h file 3 Extended information Definition format Numeric value Definition range 0 to OxFFFF Default value 0 Define the extended information of the alarm handler This information is passed as argument to the alarm han dler when it starts 151 Interrupt vector definition This definition is necessary to use Interrupt function lt lt Format gt gt Interrupt Vector Definition interrupt vector Vector No 1 os int Kernel managed OS dependent interrupt handler entry address Start address pragma switch Switch passed to PRAGMA extended function W The vector number can be
121. ne the name with which a semaphore is specified in a program 2 Initial value of semaphore counter Definition format Numeric value Definition range 0 to 65535 Default value 1 Define the initial value of the semaphore counter 3 Maximum value of the semaphore counter Definition format Numeric value Definition range 1 to 65535 Default value 1 Define the maximum value of the semaphore counter Data gueue definition This definition must always be set when the data gueue function is to be used lt lt Format gt gt Datagueue Definition datagueue ID No name ID name buffer size Number of data queues The ID number must be in the range 1 to 255 The ID number can be omitted If omitted ID numbers are automatically assigned in order of numbers beginning with the smallest lt lt Content gt gt For each data queue ID number define the items described below 1 ID name Definition format Symbol Definition range None Default value None Define the name by which the data gueue is specified in a program 147 2 Number of data Definition format Numeric Value Definition range 0 to Ox3FFF Default value 0 Specify the number of data that can be transmitted What should be specified here is the number of data and not a data size 148 Cyclic handler definition
122. nel id h void cychand void process Figure 7 5 Example Cyclic Handler Written in C Language 2 The handler to function name correlation is determined by the configuration file 126 7 2 Program Coding Procedure in Assembly Language This section describes how to write an application using the assembly language 7 2 1 Writing Task This section describes how to write an application using the assembly language 1 Be sure to include mr8c inc at the beginning of file 2 For the symbol indicating the task start address make the external declaration Be sure that an infinite loop is formed for the task or the task is terminated by the ext tsk service call INCLUDE mr8c inc 1 GLB task 2 task process jmp task 3 Figure 7 6 Example Infinite Loop Task Described in Assembly Language INCLUDE mr8c inc GLB task task process ext_tsk Figure 7 7 Example Task Terminating with ext_tsk Described in Assembly Language 4 The initial register values at task startup are indeterminate except the PC SB RO and FLG registers 5 To specify a task use the string written in the task definition item name of the configura tion file wup tsk HID task 6 To specify an event flag semaphore or data gueue use the respective strings defined in the configuration file For example if a semaphore is defined in the configuration file as shown below semaphore 1 n
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124. ngineers to raise their level of skill Another way would be to make use of a structured descriptive assembler C compiler or the like with a view toward facilitating program ming It is also possible to enhance debugging efficiency by promoting modular software development However the conventional methods are not adequate for the purpose of solving the problems Under these circumstances it is necessary to introduce a new system named real time OS To answer the above mentioned demand Renesas has developed a real time operating system tradenamed MR8C 4 for use with the R8C Family of 16 bit microcomputers When the MR8C 4 is introduced the following advantages are offered 1 Software recycling is facilitated When the real time OS is introduced timing signals are furnished via the real time OS so that programs depend ent on timing can be reused Further as programs are divided into modules called tasks structured programming will be spontaneously provided That is recyclable programs are automatically prepared 2 Ease of team programming is provided When the real time OS is put to use programs are divided into functional modules called tasks Therefore engi neers can be allocated to individual tasks so that all steps from development to debugging can be conducted inde pendently for each task Further the introduction of the real time OS makes it easy to start debugging some already finished tasks even if the entire pro
125. nterrupts cannot be used for the kernel OS dependent interrupt handler 3 Do not use watchdog timer interrupts in the kernel OS dependent interrupt The interrupt factors and the vector number of a fixed vector are shown as follows below Please refer to the hardware manual of the microcomputer that is use for a changeable vector Table 8 3 Correspondence of fixed vector interrupt factor and vector number Interrupt Factor Vector number Section Name Undefined instruction 247 FIX INTERRUPT VECTOR Overflow 248 FIX INTERRUPT VECTOR BRK instruction 249 FIX INTERRUPT VECTOR Addres match 250 FIX INTERRUPT VECTOR Single step 251 FIX INTERRUPT VECTOR Watchdog 252 FIX INTERRUPT VECTOR Adress break 253 FIX INTERRUPT VECTOR Reserved 254 FIX INTERRUPT VECTOR Reset 255 FIX INTERRUPT VECTOR 153 8 1 3 Configuration File Example The following is the configuration file example RR KKK KK RR k k RR RR RR KR RK RR KK RR RR RR RRR RR RR RR RK RR RR k k k k k RK 2 3 COPYRIGHT C 2009 RENESAS TECHNOLOGY CORPORATION 4 AND RENESAS SOLUTIONS CORPORATION ALL RIGHTS RESERVED 5 MR8C 4 V 1 00 6 7 MR8C 4 System Configuration File A EE 10 system 11 stack size 0x400 12 priority 16 13 system IPL 7 14 tic deno 1 15 tic nume LOs 17 System Clock Definition 18 clock 19 mpu_clock 20MHz 20 timer RB 21 IPL D 22 5 23 Task Definition 24 task 1 2
126. of the service call ret int service call returned from handler B but is effected by the ret int service call from han dler A See Figure 3 13 TaskA Interrupt handler A Nu A Interrupt handler A Interrupt Save Registers SP lt System Interrupt Service call processing Restore Register Restore Register ret int OS Save Registers Task selection ret int SP lt User Restore Registers e TaskB Figure 3 13 Processing Procedure for a service call from a Multiplex interrupt Handler 18 3 3 Object The object operated by the service call of a semaphore a task etc is called an object An object is identified by the ID number 3 3 1 The specification method of the object in a service call Each task is identified by the ID number internally in MR8C 4 For example the system says Start the task having the task ID number 1 However if a task number is directly written in a program the resultant program would be very low in readability If for instance the following is entered in a program the programmer is constantly reguired to know what the No 2 task is sta tsk 1 stacd Further if this program is viewed by another person he she does not understand at a glance what the No 1 task is To avoid such inconvenience the MR8C 4 provides means of specifying the task by name function or symbol name The program named configurator cfg8c which is supplied with the M
127. om WAITING state If the target eventflag has the TA_WSGL attribute and there are already other tasks waiting for the eventflag the error code E ILUSE is returned If task awaking conditions have already been met when this service call is invoked the task returns immediately and re sponds to the call with E OK If task awaking conditions are not met and the invoked service call is wat flg the task is engueued in an eventflag waiting gueue in order of FIFO For the pol flg service call the task returns immediately and responds to the call with the error code E TMOUT The task placed into a wait state by execution of the wat flg service call is released from WAITING state in the following cases When task awaking conditions are met before the tmout time elapses The error code returned in this case is E OK When the task is forcibly released from WAITING state by the rel wai or irel wai service call issued from another task or a handler The error code returned in this case is E RLWAI The following shows how wfmode is specified and the meaning of each mode wfmdoe wait mode Meaning TWF ANDW Wait until all bits specified by waiptn are set wait for the bits AND ed TWF ORW Wait until one of the bits specified by waiptn is set wait for the bits OR ed These service calls can only be issued from task context and cannot be issued from non task context 88 Example program statement lt lt Exam
128. onductor technologies the single chip microcomputer ROM capacity has in creased ROM capacity of 32K bytes As such large ROM capacity microcomputers are introduced their program development is not easily carried out by con ventional methods Figure 3 1 shows the relationship between the program size and reguired development time program development difficulty This figure is nothing more than a schematic diagram However it indicates that the development period increases expo nentially with an increase in program size For example the development of four 8K byte programs is easier than the development of one 32K byte program Development Period 4 8 16 32 Kbyte Program Size Figure 3 1 Relationship between Program Size and Development Period Under these circumstances it is necessary to adopt a method by which large size programs can be developed within a short period of time One way to achieve this purpose is to use a large number of microcomputers having a small ROM capacity Figure 3 2 presents an example in which a number of microcomputers are used to build up an audio equipment system n condition that the ROM program burnin n n rformed Key input Remote control LED illumination microcomputer microcomputer microcomputer Arbiter microcomputer Volume control Monitor Mechanical microcomputer microcomputer control microcomputer Figure 3 2 Microcomputer based System Example Audio Equipment Using indep
129. onfiguration file 159 Warning messages The following message are a warning A warning can be ignored providing that its content is understood cfg8c Warning system is not defined xxxx cfg cfg8c Warning system XXXX is not defined xxxx cfg System definition or system definition item XXXX is omitted in the configuration file cfg8c Warning task x XXXX is not defined near line xxx xxxx cfg The task definition item XXXX in ID number is omitted cfg8c Warning Already definition XXXX near line xxx xxxx cfg XXXX has already been defined The defined content is ignored check to delete the extra definition cfg8c Warning interrupt vector x s default is not defined default cfg The interrupt vector definition of vector number x in the default configuration file is missing cfg8c Warning interrupt vector x s default is not defined near line xxx xxxx cfg The interrupt vector of vector number x in the configuration file is not defined in the default configuration file cfg8c Warning system stack size is an uneven number near line xxx cfg8c Warning task x stack size is an uneven number near line xxx Please set even size in system stack size or task x stack size 160 9 Sample Program Description 9 1 Overview of Sample Program As an example application of MR8C 4 the following shows a program that outputs a string to the standard output device from one task and another alternately Table 9 1 Func
130. onsidering the use of a product contained herein for any specific pur poses such as apparatus or systems for transportation vehicular medical aerospace nuclear or undersea repeater use e The prior written approval of Renesas Technology Corporation and Renesas Solutions Corporation is necessary to reprint or repro duce in whole or in part these materials e l these products or technologies are subject to the Japanese export control restrictions they must be exported under a license from the Japanese government and cannot be imported into a country other than the approved destination Any diversion or reexport con trary to the export control laws and regulations of Japan and or the country of destination is prohibited O Please contact Renesas Technology Corporation or Renesas Solutions Corporation for further details on these materials or the prod ucts contained therein For inquiries about the contents of this document or product fill in the text file the installer generates in the following directory and email to your local distributor SUPPORT Product name S UPPORT TXT Renesas Tools Homepage _http www renesas com en tools Preface The MR8C 4 is a real time operating system for RSC Family microcomputers The MR8C 4 conforms to the yITRON Specification This manual describes the procedures and precautions to observe when you use the MR8C 4 for programming purposes For the detailed information on individual service call procedur
131. ore recommended that customers contact Renesas Technology Corporation Renesas Solutions Corporation or an authorized Renesas Technology product distributor for the latest product information before purchasing a product listed herein The information described here may contain technical in accuracies or typographical errors Renesas Technology Corporation and Renesas Solutions Corporation assume no responsibility for any damage liability or other loss rising from these inaccuracies or errors Please also pay attention to information published by Renesas Technology Corporation and Renesas Solutions Corporation by various means including the Renesas home page http www renesas com e When using any or all of the information contained in these materials including product data diagrams charts programs and algo rithms please be sure to evaluate all information as a total system before making a final decision on the applicability of the informa tion and products Renesas Technology Corporation and Renesas Solutions Corporation assume no responsibility for any damage liability or other loss resulting from the information contained herein Renesas Technology semiconductors are not designed or manufactured for use in a device or system that is used under circum stances in which human life is potentially at stake Please contact Renesas Technology Corporation Renesas Solutions Corporation or an authorized Renesas Technology product distributor when c
132. ority in system definition Default value 1 Define the priority of a task at startup time As for MR8C 4 s priority the lower the value the higher the priority Regisers Used Definition format Symbol Symbol Definition range Selected from R0 R1 R2 R3 A0 A1 SB FB Default value All registers Define the registers used in a task MR8C 4 handles the register defined here as a context Specify the RO and R1 register because task startup code is set in R1 when the task starts and return parameter is returned in RO 144 However the registers used can only be selected when the task is written in the assembly language Select all registers when the task is written in the C language When selecting a register here be sure to select all registers that store service call parameters used in each task MR8C 4 kernel does not change the registers of bank If this definition is omitted it is assumed that all registers are selected 6 Section name in which the stack is located Definition format Symbol Definition range None Default value stack Define the section name in which the stack is located The section defined here must always have an area allo cated for it in the section file asm sec inc or c_sec inc If no section names are defined the stack is located in the stack section 7 TA_ACT aitribute initial startup state Definition format Symbol Definition range
133. place it into READY or RUNNING state The forcibly released task returns the error code E RLWAI If the target task has been en queued in some waiting queue the task is dequeued from it by execution of this service call If this service call is issued to a task in WAITING SUSPENDED state the target task is released from WAITING state and goes to SUSPENDED state If the target task is not in WAITING state the error code E OBJ is returned This service call forbids specifying the issuing task itself for tskid If this service call is to be issued from task context use rel_wai if issued from non task context use irel wat 21 This means that tasks cannot be resumed from SUSPENDED state by this service call Only the rsm_tsk irsm_tsk frsm_tsk and ifrsm_tsk service calls can release them from SUSPENDED state 69 Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task if rel wait ID main E OK error Can t rel wai main n i lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM A0 rel wai ID_ TASK2 70 sus tsk Suspend task C Language API ER ercd sus tsk ID tskid e Parameters ID tskid ID number of the target task e Return Parameters ER ercd Terminated normally E OK or error code Assembly language API
134. ple statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task UINT flgptn if wai flg ID flg2 FLGPTN 0x0 0 TWF ANDW amp flgptn E OK error Wait Released n if pol_flg ID flg2 FLGPTN 0x0 0 TWF ORW amp flgptn E OK printf Not set EventFlag n i lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM AO R1 R3 wai Ela ID_FLG1 0003H TWF_ANDW PUSHM AO R1 R3 pol flg ID_FLG2 0008H TWF_ORW 89 5 5 Synchronization 8 Communication Function Data Queue Specifications of the data queue function of MR8C 4 are listed in Table 5 9 Table 5 9 Specifications of the Data Queue Function No Item Content 1 Data queue ID 1 255 2 Capacity data bytes in data queue area 0 65535 3 Data size 16 bits 4 Data queue attribute TA_TFIFO Waiting tasks enqueued in order of FIFO Table 5 10 List of Dataqueue Function Service Call No Service Call Function System State T N E D U L 1 snd_dtq S Sends to data queue O O O 2 psnd dtg S Sends to data gueue O O O O 3 ipsnd_dtq S polling O O O O 4 rev dtg S Receives from data gueue O O O 5 prev dtg S Receives from data gueue o O O O polling Notes e S Standard profile service calls B Basic profile service calls e Each sign with
135. pment communications equipment test and measurement equipment audio and visual equipment home electronic appliances machine tools personal electronic equipment and industrial robots High Quality Transportation equipment automobiles trains ships etc traffic control systems anti disaster systems anti crime systems safety equipment and medical equipment not specifically designed for life support Specific Aircraft aerospace equipment submersible repeaters nuclear reactor control systems medical equipment or systems for life support e g artificial life support devices or systems surgical implantations or healthcare intervention e g excision etc and any other applications or purposes that pose a direct threat to human life You should use the Renesas Electronics products described in this document within the range specified by Renesas Electronics especially with respect to the maximum rating operating supply voltage range movement power voltage range heat radiation characteristics installation and other product characteristics Renesas Electronics shall have no liability for malfunctions or damages arising out of the use of Renesas Electronics products beyond such specified ranges Although Renesas Electronics endeavors to improve the quality and reliability of its products semiconductor products have specific characteristics such as the occurrence of failure at a certain rate and malfunctions under certai
136. products or if you have any other inquiries Note 1 Renesas Electronics as used in this document means Renesas Electronics Corporation and also includes its majority owned subsidiaries Note 2 Renesas Electronics product s means any product developed or manufactured by or for Renesas Electronics ENESAS C o m d lt D D MR8C 4 V 4 00 User s Manual Real time OS for R8C Family Renesas Electronics Rev 1 00 2009 08 www renesas com e Active X Microsoft MS DOS Visual Basic Visual C Windows and Windows NT are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries IBM and AT are registered trademarks of International Business Machines Corporation Intel and Pentium are registered trademarks of Intel Corporation e Adobe Acrobat and Acrobat Reader are trademarks of Adobe Systems Incorporated e TRON is an abbreviation of The Real time Operating system Nucleus e ITRON is an abbreviation of Industrial TRON uITRON is an abbreviation of Micro Industrial TRON e TRON ITRON and pITRON do not refer to any specific product or products All other brand and product names are trademarks registered trademarks or service marks of their respective holders Keep safety first in your circuit designs Renesas Technology Corporation and Renesas Solutions Corporation put the maximum effort into making semiconductor products
137. r application add it to the 140th line in the C lan guage startup program crtOmr a30 Initialization of the standard I O function Comment out the 96th 97th line in the C language startup program crtOmr a30 if no standard I O function is used 130 7 31 C Language Startup Program crtOmr a30 Figure 7 11 shows the C language startup program crtOmr a30 y E kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk 2 ES MR8C 4 start up program for C language 4 COPYRIGHT C 2009 RENESAS TECHNOLOGY CORPORATION Di AND RENESAS SOLUTIONS CORPORATION ALL RIGHTS RESERVED kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk 8 Id crtOmr a30 519 2006 04 24 13 36 30Z inui 9 10 list OFF 11 include c s c ine 12 include mr8c inc 13 include sys rom inc 14 include sys ram inc 15 list ON 16 17 E 18 SBDATA area definition 19 20 glb ep 21 SB SB 22 23 j 5 5 s s s ss s 24 Initialize Macro declaration DONA S E E NS Y P E EE P E O SS S A SS 26 N BZERO macro TOP SECT 27 mov b 00H ROL 28 mov w H TOP_ OFFFFH Al 29 mov w sizeof SECT_ R3 30 sstr b 31 endm 32 33 N_BCOPY macro FROM_ TO_ SECT_ 34 mov w H FROM OFFFFH AO 35 mov b FROM_ gt gt 16 R1H 36 mov w HTO A1
138. rel wai or irel wai service call is sued from another task or a handler The error code returned in this case is E RLWAI These service calls can only be issued from task context and cannot be issued from non task context 94 Example program statement lt lt Example statement in C language gt gt include lt itron h gt include lt kernel h gt include kernel id h void task VP INT data if rev dta ID dta amp data E RLWAI error forced wakeup n if prov dtg ID dro amp data E TMOUT error Timeout n lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM AO prev_dtq ID_DTQ2 PUSHM AO rev_dtq ID_DTQ2 95 5 6 Time Management Function Notes Table 5 11 List of Time Management Function Service Call No Service Call Function System State N E D U 1 isig_tim S Supply a time tick OO ROO S Standard profile service calls B Basic profile service calls Each sign within System State is a following meaning effet T Can be called from task context N Can be called from non task context E Can be called from dispatch enabled state D Can be called from dispatch disabled state U Can be called from CPU unlocked state L Can be called from CPU locked state 96 isig tim Supply a time tick Functional description Thi
139. renced 141 3 Kernel mask level OS interrupt disable level Definition format Numeric value Definition range 1to7 Default value 7 Set the IPL value in service calls that is the OS interrupt disable level 4 Time tick denominator Definition format Numeric value Definition range Fixed to 1 Default value 1 Set the denominator of the time tick 5 Time tick numerator Definition format Numeric value Definition range 1 to 65 535 Default value 1 Set the numerator of the time tick The system clock interrupt interval is determined by the time tick denomina tor and numerator that are set here The interval is the time tick numerator divided by time tick denominator ms That is the time tick numerator ms System Clock Definition Procedure lt lt Format gt gt System Clock Definition clock mpu_clock MPU clock timer Timers used for system clock IPL System clock interrupt priority level Yi lt lt Content gt gt 1 MPU clock Definition format Freguency in MHz Definition range None Default value 20MHz Define the MPU operating clock freguency of the microcomputer in MHz units 2 Timers used for system clock Definition format Symbol Definition range RA RB OTHER NOTIMER Default value NOTIMER Define the hardware timers used for the system clock If you do
140. respectively Whether the system is in a CPU locked state can be known by the sns_loc service call The service calls that can be issued from a CPU locked state are limited to those that are listed in Table 3 2 Table 3 2 Invocable Service Calls in a CPU Locked State loc_cpu ext_tsk sns_loc unl cpu sns_ctx sns_dsp 3 5 4 Dispatch Disabled and CPU Locked States In ITRON 4 0 Specification the dispatch disabled and the CPU locked states are clearly discriminated Therefore if the unl_cpu service call is issued in a dispatch disabled state the dispatch disabled state remains intact and no task scheduling is performed State transitions are summarized in Table 3 3 Table 3 3 CPU Locked and Dispatch Disabled State Transitions Relating to dis_dsp and loc_cpu State Content of state dis dsp ena dsp loc cpu unl cpu number CPU locked Dispatch disabled executed executed executed executed state state 1 O X X X gt 1 gt 3 2 O O X X gt 2 gt 4 3 X A gt 4 gt 3 gt 1 gt 3 4 X O gt 4 gt 3 gt 2 gt 4 15 If a service call not issuable is issued when dispatch disabled MR8C 4 doesn t return the error and doesn t guarantee the operation MR8C 4 does not return an error even when an uninvocable service call is issued from a CPU locked state in which case however its Operation cannot be guaranteed 30 3 6 Regarding Interrupts 3 6 1 Types of Interr
141. ription This service call reads out information about the version of the currently executing kernel and returns the result to the area pointed to by pk_rver The following information is returned to the packet pointed to by pk_rver maker The code H 115 denoting Renesas Technology Corporation is returned prid The internal identification code IDH 0016 of the MR8C 4 is returned spver The code H 5402 denoting that the kernel is compliant with uITRON Specification Ver 4 02 00 is returned prver The code H 0100 denoting the version of the MR8C 4 is returned prno prno 0 Reserved for future extension prno 1 Reserved for future extension prno 2 Reserved for future extension prno 3 Reserved for future extension This service call can only be issued from task context and cannot be issued from non task context Example program statement lt lt Example statement in C language gt gt include lt itron h gt include lt kernel h gt include kernel id h void task T_RVER pk_rver ref ver pk rver lt lt Example statement in assembly language gt gt include mr8c inc GLB task _ refver blkb 6 task PUSHM AO ref ver 4 refver 120 6 Applications Development Procedure Overview 6 1 Overview Application programs for MR8C 4 should generally be developed following the procedure described below 1 Generating a project When using High performance Emb
142. rmed however This service call can be issued only from task context It cannot be issued from non task context 110 Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task dis dsp lt lt Example statement in assembly language gt gt include mr8c inc GLB task task dis dsp e ena dsp Enables dispatching C Language API ER ercd ena dsp e Parameters None Return Parameters ER ercd Terminated normally E OK Assembly language API include mr8c inc ena dsp e Parameters None Register contents after service call is issued Register name Content after service call is issued RO Error code Error code None Functional description This service call frees the system from a dispatching disabled state that was set by the dis_dsp service call As a result task scheduling is resumed when the system has entered a task execution state Invoking this service call from a task execution state does not cause an error in which case task queuing is not performed however This service call can be issued only from task context It cannot be issued from non task context Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt Hinclude lt kernel h gt include kernel id h void task ena dsp
143. rrupt Management Function onccinccnnnonicnnonnnncnernncrcnri narrar 51 4 2 11 System Configuration Management F UNCC ON cmcccnnnnnnnnnnonccnccnnccannccnncrncnnnr 52 Service Call TEfEr6NCE EE 53 5 1 Task Management Function cociccinccnncconoconoccnoncnona nana nonn narran rn 53 sta tsk Activate task with a Start Code ooo eeeceeseeseeeeeeeceeeeaeeeeeeneeeeeeaeseaesaeseesaesaeeeeseaeeneesaeseaeeaeeas 54 ista tsk Activate task with a start code handler oplvi 2 lt 4 eeeeeeeeeeeeeeeee eee eee eee enn nn 54 ext tsk Terminate invoking task AAA 56 ter tsk TermMinatetaSk iii e E EES 58 chg pri Change task priority eececcececeeseeeeeeeseeeceeceaecaeceaeseaeseeeseeesseeeseeeseaesseesseeeseeeseeeesaeeseeeaaes 60 5 2 Task Dependent Synchronization Functon cece eee eeeee cece eee eee sees eteeeteeeeeeeeeaeesaaeeaaeeaeeseeeaaee 62 le PUE Task to sleeps EE 63 Wup tsk Wakeup task a a ii 65 iwup tsk Wakeup task handler only 65 can wup Cancel wakeupreuet 2 22 intinta ttut eee eee na KK K KA KK KARA K AAR K KK KKK 67 rel wai Release task from waiting ENNEN 69 irel wai Release task from waiting handler only ooonccnicnnicnnncinconnconcconcconccnnccnnnannrn een eee een nn 69 s s tsk Suspend task aiai ieii unenian AEEA ege ncQachadapiedsdea ZE ka dated s Aeren 71 rsm tsk Resume suspended taSk AANEREN 73 dl tsk Delay Fake A dese i case ge a ENEE 75 5 3 Synchronization
144. rvice call processing iset flg Restore Registers Task selection SP lt User Scheduler TaskB Restore Registers Figure 3 11 Processing Procedure for a Service Call a Handler that caused an interrupt during Task Execution The ret int service call is issued automatically when OS dependent handler is written in C language when pragma INTHANDLER speci fied 16 Service Calls from a Handler That Caused an Interrupt during Service Call Processing Scheduling task switching is initiated after the system returns to the interrupted service call processing See Figure 3 12 TaskA OS Y Interrupt handler wup_tsk Save Registers SP lt System Interrupt f f Service call processing Restore Registers Task selection SP lt User Restore Registers ret int TaskB Figure 3 12 Processing Procedure for a Service Call from a Handler that caused an interrupt during Service Call Processing 17 Service Calls from a Handler That Caused an Interrupt during Handler Execution Let us think of a situation in which an interrupt occurs during handler execution this handler is hereinafter referred to as handler A for explanation purposes When task switching is called for as a handler hereinafter referred to as handler B that caused an interrupt during handler A execution issued a service call task switching does not take place during the exe cution
145. rvice call receives data from the data queue indicated by dtqid and stores the received data in the area pointed to by p_data If data is present in the target data queue the data at the top of the queue or the oldest data is received This results in creating a free space in the data queue area so that a task enqueued in a transmission waiting queue is released from WAITING state and starts sending data to the data queue area If no data exist in the data queue and there is any task waiting to send data 1 e data bytes in the data queue area 0 data for the task at the top of the data transmission waiting queue is received As a result the task kept waiting to send that data is released from WAITING state On the other hand if rev_dtq is issued for the data queue which has no data stored in it the task that issued the service call goes from RUNNING state to a data reception wait state and is enqueued in a data reception waiting queue At this time the task is enqueued in order of FIFO For the prev_dtq service calls the task returns immediately and responds to the call with the error code E TMOUT The task placed into a wait state by execution of the rcv_dtq service call is released from the wait state in the following cases When the rcv_dtq or prov dtg service call is issued with task awaking conditions thereby satis fied The error code returned in this case is E OK When the task is forcibly released from WAITING state by the
146. s executed on a task enqueued in a ready queue including one that is in an executing state or a task in a waiting queue in which tasks are enqueued in order of pri ority the target task is moved to behind the tail of a relevant priority part of the queue Even when the same priority as the previous one is specified the task is moved to behind the tail of the queue The smaller the number the higher the task priority with 1 assigned the highest priority The minimum value specifiable as priority is 1 The specifiable maximum value of priority is the maximum value of priority specified in a configuration file providing that it is within the range 1 to 255 For example if system specification in a configuration file is as follows system stack_size 0x100 priority 13 y then priority can be specified in the range 1 to 13 If TSK_SELF is specified the priority of the issuing task is changed If TSK_SELF is specified for tskid in non task con text operation of the service call cannot be guaranteed If TPRI_INI is specified the task has its priority changed to the initial priority that was specified when the task was created The changed task priority remains effective until the task is terminated or this service call is executed again If the task indicated by tskid is in DORMANT state it returns the error code E OBJ as a return value for the service call Since the MR8C 4 does not support the mutex function in no case will the error
147. s service call updates the system time The isig tim is automatically started every tick_time interval ms if the system clock is defined by the configuration file The application cannot call this function because it is not implementing as service call When a time tick is supplied the kernel is processed as follows 1 Updates the system time 2 Starts an alarm handler 3 Starts a cyclic handler 4 Processes the timeout processing of the task put on WAITING state by dly_tsk service call with time out 97 5 7 Time Management Function Cyclic Handler Specifications of the cyclic handler function of MR8C 4 are listed in Table 5 12 The cyclic handler description languages in item No 4 are those specified in the GUI configurator They are not output to a configuration file nor are the MR8C 4 kernel concerned with them Table 5 12 Specifications of the Cyclic Handler Function No Item Content 1 Cyclic handler ID 1 255 2 Activation cycle 0 7fffffff ms 3 Activation phase 0 7fffffff ms 4 Extended information 16 bits 5 Cyclic handler attribute TA_HLNG Handlers written in high level language TA_ASM Handlers written in assembly language TA_STA Starts operation of cyclic handler TA_PHS Saves activation phase Notes Table 5 13 List of Cyclic Handler Function Service Call No Service Call Function System State TINJEJDJ UJL 1 sta_cyc S B Starts cycl
148. sk status simple version ref_tst iref_tst Refers to the state of the target task Reference task status ref_tsk iref_tsk Refers to the state of the target task and its priority etc 38 4 2 2 Task Dependent Synchronization Function The task dependent synchronization functions attached to task is used to accomplish synchronization between tasks by placing a task in the WAIT SUSPENDED or WAIT SUSPENDED state or waking up a WAIT state task The MR8C 4 offers the following task incorporated synchronization service calls Put Task to sleep slp_tsk Wakeup task wup_tsk iwup_tsk Wakeups a task that has been placed in a WAITING state by the slp_tsk service call No task can be waked up unless they have been placed in a WAITING state by If a wakeup request is issued to a task that has been kept waiting for conditions other than the slp_tsk service call or a task in other than DORMANT state by the wup_tsk or iwup_tsk service call that wakeup request only will be accumulated Therefore if a wakeup request is issued to a task RUNNING state for example this wakeup request is temporar ily stored in memory Then when the task in RUNNING state is going to be placed into WAIT state by the slp tsk service call the accumulated wakeup request becomes effective so that the task continues executing again with out going to WAIT state See Figure 4 4 e Cancel Task Wakeup Requests can_wup Clears the stored wakeup request See
149. specified by tskid is in WAIT ING SUSPENDED state this service call awakes the task from only the sleeping state so that the task goes to SUS PENDED state If a wakeup request is issued while the target task remains in DORMANT state the error code E OBJ is returned to the service call issuing task If TSK_SELF is specified for tskid it means specifying the issuing task itself If TSK_SELF is specified for tskid in non task context operation of the service call cannot be guaranteed If this service call is issued to a task that has not been placed in WAITING state or in WAITING SUSPENDED state by execution of slp_tsk the wakeup request is accumulated More specifically the wakeup request count for the target task to be awakened is incremented by 1 in which way wakeup requests are accumulated The maximum value of the wakeup request count is 15 If while the wakeup request count 15 a new wakeup request is generated exceeding this limit the error code E OOVR is returned to the task that issued the service call with the wakeup request count left intact If this service call is to be issued from task context use wup_tsk if issued from non task context use iwup tsk 65 Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task if wup_tsk ID main E OK printf Can t wakeup main n i lt lt Example
150. specified time elapse The request of the task placed in the WAITING state by the wai_flg wai sem end do or rev_dtq service call is fulfilled The WAITING state is forcibly cleared by the rel_wai or irel_wai service call 1 1 Ifa forcible wait request is issued to a task currently in a wait state the task goes to a WAITING SUSPENDED state 22 When the SUSPENDED state clear request by rsm tsk or irsm tsk is made to a task in the WAIT ING SUSPENDED state that task goes into the WAITING state Since a task in the SUSPENDED state cannot reguest to be placed in the WAITING state status change from SUSPENDED to WATTING SUSPENDED does not possibly occur 6 DORMANT This state refers to the condition in which a task is registered in the MR8C 4 system but not activated This task state prevails when either of the following two conditions occurs The task is waiting to be activated The task is normally terminated by ext_tsk service call or forcibly terminated by ter tsk service call 23 3 4 2 Task Priority and Ready Queue In the kernel several tasks may simultaneously request to be executed In such a case it is necessary to determine which task the system should execute first To properly handle this kind of situation the system organizes the tasks into proper execution priority and starts execution with a task having the highest priority To complete task execution quickly tasks related to processing operations th
151. target task VP INT stacd Task start code e Return Parameters ER ercd Terminated normally E OK or error code Assembly language API include mr8c inc sta tsk TSKID STACD ista tsk TSKID STACD e Parameters TSKID ID number of the target task STATCD Task start code Register contents after service call is issued Register name Content after service call is issued RO Error code RI Task start code A0 ID number of the target task Error code E OBJ Object status invalid task indicated by tskid is not DOMANT state 54 Functional description This service call starts the task indicated by tskid In other words it places the specified task from DORMANT state into READY state or RUNNING state This service call does not enqueue task activation requests Therefore if a task activa tion request is issued while the target task is not DORMANT state the error code E OBJ is returned to the service call is suing task This service call is effective only when the specified task is in DORMANT state The task start code stacd is 16 bits long This task start code is passed as parameter to the activated task If a task is restarted that was once terminated by ter_tsk or ext_tsk the task performs the following as it starts up 1 Initializes the current priority of the task 2 Clears the number of queued wakeup requests 3 Clears the number of nested forcible wait requests Tf this service call is to be issued from task
152. task content and non task context are shown in Table 3 1 Task Context and Non task Context Table 3 1 Task Context and Non task Context Task context Non task context Invocable service call Those that can be invoked from Those that can be invoked from task context non task context Task scheduling Occurs when the queue state has It does not occur changed to other than dispatch dis abled and CPU locked states Stack User stack System stack The processes executed in non task context include the following 1 Interrupt Handler A program that starts upon hardware interruption is called the interrupt handler The MR8C 4 is not concerned in interrupt handler activation Therefore the interrupt handler entry address is to be directly written into the interrupt vector table There are two interrupt handlers Non kernel interrupts OS independent interrupts and kernel interrupts OS dependent interrupts For details about each type of interrupt refer to Section 3 6 The system clock interrupt handler isig_tim is one of these interrupt handlers 2 Cyclic Handler The cyclic handler is a program that is started cyclically every preset time The set cyclic handler may be started or stopped by the sta_cyc or stp_cyc service call 3 Alarm Handler The alarm handler is a handler that is started after the lapse of a specified relative time of day The alarm handler startup time of day is determined by a time of
153. te However the external va riable and static variable are not automatically initialized when the task is started The ex ternal and static variables are initialized only by the startup program crtOmr a30 which actuates before MR8C 4 startup 11 The task executed when the MR8C 4 system starts up is setup 12 The variable storage classification is described below The MR8C 4 treats the C language variables as indicated in Table 7 1 C Language Variable Treatment Table 7 1 C Language Variable Treatment Variable storage class Treatment Global Variable Variable shared by all tasks Non function static variable Variable shared by the tasks in the same file Auto Variable Register Variable Variable for specific task Static variable in function 7 1 2 Writing a Kernel OS Dependent Interrupt Handler When describing the kernel OS dependent interrupt handler in C language observe the following precautions 2 The configurator generates the file kernel_id h that is used to convert the ID number of a task into the string to be specified This means that the define declaration necessary to convert the string specified in the task definition item name into the ID number of the task is made in kernel id h The same applies to the cyclic and alarm handlers 5 The task starts from its start function with the initial priority in a wakeup counter cleared state 124 Describe the kernel OS depend
154. ted normally E OK or error code Assembly language API include mr8c inc wai sem SEMID pol sem SEMID e Parameters SEMID Semaphore ID number to be acguired Register contents after service call is issued Register name Content after service call is issued RO Error code A0 Semaphore ID number to be acguired Error code E RLWAI Forced release from waiting E TMOUT Polling failure 80 Functional description This service call acguires one semaphore resource from the semaphore indicated by semid If the semaphore resource count is egual to or greater than 1 the semaphore resource count is decremented by 1 and the service call issuing task continues execution On the other hand if the semaphore count value is 0 the wai sem service call invoking task is engueued in a waiting gueue for that semaphore in order of FIFO For the pol sem service call the task returns immediately and responds to the call with the error code E TMOUT The task placed into WAITING state by execution of the wai_sem service call is released from the WAITING state in the following cases When the sig sem or isig sem service call is issued with task awaking conditions thereby sat isfied The error code returned in this case is E OK When the task is forcibly released from WAITING state by the rel wai or irel wai service call is sued from another task or a handler The error code returned in this case is E RLWAI These servic
155. tflag by the wai_flg or twai_flg service call becoming satisfied the task is released from WAITING state and placed into READY or RUNNING state Task awaking conditions are evaluated sequentially beginning with the top of the waiting queue If TA_WMUL is specified as an eventflag attribute multiple tasks kept waiting for the eventflag can be released from WAITING state at the same time by one set_flg or iset_flg service call issued Furthermore if TA CLR is specified for the attribute of the target event flag all bit patterns of the eventflag are cleared with which processing of the service call is terminated If all bits specified in setptn are 0 no operation will be performed for the target eventflag in which case no errors are as sumed however If this service call is to be issued from task context use set_flg if issued from non task context use iset flg 83 Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task void set flg ID flg FLGPTN 0xff 00 lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM A0 R3 set flg HID_FLG3 0ff00H 84 clr_flg Clear eventflag C Language API ER ercd clr flg ID flgid FLGPTN clrptn Parameters ID flgid ID number of the eventflag to be cleared FLGPTN clrptn Bit pattern to be cleared
156. the WATTING state it exits the RUNNING state and enters the WAITING state The WAITING state is usually used as the condition in which the completion of I O device I O operation or the processing of some other task is awaited The task goes into the WATTING state in one of the following ways The task enters the WAITING state simply when the slp tsk service call is issued In this case the task does not go into the READY state until its WAITING state is cleared explicitly by some other task The task enters and remains in the WAITING state for a specified time period when the dy tsk service call is issued In this case the task goes into the READY state when the specified time has elapsed or its WAITING state is cleared explicitly by some other task The task is placed into WAITING state for a wait request by the wai flg wai_sem snd_dtq or rev do service call In this case the task goes from WAITING state to READY state when the re quest is met or WAITING state is explicitly canceled by another task lf the task is placed into WAITING state for a wait request by the wai flg wai sem snd dro or rev dig service call the task is queued to one of the following waiting queues depending on the reguest e Event flag waiting queue Semaphore waiting queue e Data queue data transmission waiting queue Data queue data reception waiting queue 4 SUSPENDED state When the sus_tsk service call is issued from a task in the RUNNING state
157. thin Ox 7fffffff time tick If any value exceeding this limit is specified the service call may not operate correctly If 0 is specified for almtim the alarm handler is started at the next time tick This service call can only be issued from task context and cannot be issued from non task context 102 Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task sta alm ID alm1 100 lt lt Example statement in assembly language gt gt include mr8c inc GLB task task PUSHM AO sta alm HID ALM1 100 103 stp alm Stop alarm handler operation C Language API ER ercd stp alm ID almid e Parameters ID almid ID number of the alarm handler to be stopped Return Parameters ER ercd Terminated normally E OK Assembly language API include mr8c inc stp alm ALMID Parameters ALMID ID number of the alarm handler to be stopped Register contents after service call is issued Register name Content after service call is issued RO Error code A0 ID number of the alarm handler to be stopped Error code None Functional description This service call places the alarm handler indicated by almid into a non operational state This service call can only be issued from task context and cannot be issued from non task context Example program statement
158. tion System State T N E D U 1 ref ver S References version in O olojo formation Notes e S Standard profile service calls B Basic profile service calls e Each sign within System State is a following meaning T Can be called from task context N Can be called from non task context E Can be called from dispatch enabled state D Can be called from dispatch disabled state U Can be called from CPU unlocked state L Can be called from CPU locked state o o 118 ref ver Reference version information C Language API ER ercd ref ver T RVER pk rver Parameters T_RVER pk_rver Pointer to the packet to which version information is returned Contents of pk_rver typedef struct t_rver UH maker 0 2 Kernel manufacturer code UH prid 2 2 Kernel identification number UH spver 4 2 ITRON specification version number UH prver 6 2 Kernel version number UH prno 4 8 2 Kernel product management information T RVER Return Parameters ER ercd Terminated normally E OK Assembly language API include mr8c inc ref ver PK VER Parameters PK VER Pointer to the packet to which version information is returned e Register contents after service call is issued Register name Content after service call is issued RO Error code A0 Pointer to the packet to which version information is returned Error code None 119 Functional desc
159. tions in the Sample Program Function Type ID No Priority Description Name main Task 1 1 Starts task1 and task2 task1 Task 2 2 Outputs task1 running task2 Task 3 3 Outputs task2 running cyhl Handler 1 Wakes up task1 The content of processing is described below e The main task starts task1 task2 and cyh1 and then terminates itself e task1 operates in order of the following 1 Gets a semaphore 2 Goes to a wakeup wait state 3 Outputs taskl running 4 Frees the semaphore e task2 operates in order of the following 1 Gets a semaphore 2 Outputs task2 running 3 Frees the semaphore cyhl starts every 100 ms to wake up task1 161 9 2 Program Source Listing i IK 2 MR8C 4 smaple program 3 4 COPYRIGHT C 2003 2005 RENESAS TECHNOLOGY CORPORATION 5 AND RENESAS SOLUTIONS CORPORATION ALL RIGHTS RESERVED 6 7 8 Id demo c v 1 2 2005 06 15 05 29 02 inui Exp 9 SSA 10 11 include lt itron h gt 12 include lt kernel h gt 13 include kernel id h 14 include lt stdio h gt 15 16 17 main VP INT stacd 18 19 sta tsk ID taskl1 0 20 sta tsk ID task2 0 21 sta cyc ID cyhl 22 23 void taskl VP INT stacd 24 25 while 1 26 wai sem ID seml 27 slp tsk 28 printf task1 runningin 29 sig sem ID seml 30 31 32 33 void task2 VP INT stacd 34 35 while 1 36 wai sem ID sem
160. trol block TCB refers to the data block that the real time OS uses for individual task status priority and oth er control purposes The MR8C 4 manages the following task information as the task control block Task connection pointer Task connection pointer used for ready gueue formation or other purposes Task status Task priority Task register information and other data storage stack area pointer current SP register value Wake up counter Task wake up reguest storage area Flag wait pattern This area is used when using the timeout function This area stores the flag wait pattern when using the eventflag wait service call with the timeout function No flag wait pattern area is allocated when the eventflag is not used Flag wait mode This is a wait mode during eventflag wait Delay time counter Delay time counter when dly_tsk is called Extended task information Extended task information that was set during task generation is stored in this area 14 Called the task context 26 The task control block is schematized in Figure 3 19 TCB TCB TCB Task Connection pointer Status Priority SP Wake up counter Flag wait mode Time out counter Flag wait pattern Figure 3 19 Task control block 27 3 5 System States 3 5 1 Task Context and Non task Context The system runs in either context state task context or non task context The differences between the
161. tron h gt include lt kernel h gt Hinclude kernel id h void task BOOL stat stat sns dsp lt lt Example statement in assembly language gt gt include mr8c inc GLB task task sns dsp 115 5 10Interrupt Management Function Notes Table 5 17 List of Interrupt Management Function Service Call No Service Call Function System State N E D U 1 ret_int Returns from an interrupt Oo O Oo O handler S Standard profile service calls B Basic profile service calls Each sign within System State is a following meaning fet o T Gan be called from task context N Gan be called from non task context E Can be called from dispatch enabled state D Can be called from dispatch disabled state U Can be called from CPU unlocked state L Can be called from CPU locked state 116 ret int Returns from an interrupt handler when written in assembly language C Language API This service call cannot be written in C language Assembly language API include mr8c inc ret int e Parameters None Error code Not return to the interrupt handler that issued this service call Functional description This service call performs the processing necessary to return from an interrupt handler Depending on return processing it activates the scheduler to switch tasks from one to another If this service call
162. ued from non task context 107 Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt include lt kernel h gt include kernel id h void task loc_cpu lt lt Example statement in assembly language gt gt include mr8c inc GLB task task loc cpu 108 unl cpu Unlock the CPU C Language API ER ercd unl_cpu e Parameters None Return Parameters ER ercd Terminated normally E OK Assembly language API include mr8c inc unl cpu e Parameters None Register contents after service call is issued Register name Content after service call is issued RO Error code Error code None Functional description This service call frees the system from a CPU locked state that was set by the loc cpu service call If the unl cpu service call is issued from a dispatching enabled state task scheduling is performed The CPU locked state and the dispatching disabled state are managed independently of each other Therefore the system cannot be freed from a dispatching disabled state by the unl cpu service call unless the ena dsp service call is used This service call can only be issued from task context and cannot be issued from non task context Example program statement lt lt Example statement in C language gt gt Hinclude lt itron h gt Hinclude lt kernel h gt include kernel id h void
163. uing a service call in the assembly language you need to use macros prepared for invoking service calls Processing in a service call invocation macro involves setting each parameter to registers and starting ex ecution of a service call routine by a software interrupt If you issue service calls directly without using a ser vice call invocation macro your program may not be guaranteed of compatibility with future versions of MR8C 4 The table below lists the assembly language interface parameters The values set forth in uITRON specifica tions are not used for the function code Task Management Function rampas ServiceCall INTNo FuncCode FuncCode sa oje je T N ee OM EE EE ee ARE ov je je em oe jee se je o ae a A de dle o Je dE Task Dependent Synchronization Function Parameter ReturrParameter ServiceCall INTNO FuncCode ou Ea o A CA C we s 2 jee je aw 2 2 je wm sw 2 s je je me oj 2 o je je ax am jm je W a 2 2 je je s a je Je Synchronization amp Communication Function RetumParameter ServiceCall INTNo FuncCode R2 R3 FuncCode waisem r IE E R BO COR C M CO E LE E sem 2 e ESO E jee jee E ES se s e jee jee C bee 2 aw usan mos jee jen paro fmm vaan oa fea jen sen IE ose jemm ea kw so jemm jee k
164. ult value 0 Specify the initial bit pattern of the event flag 3 Multi wait attribute Definition format Symbol Definition range TA_WMUL or TA_WSGL Default value TA_WSGL Specify whether multiple tasks can be enqueued in the eventflag waiting queue If TA_WMUL is selected the TA_WMUL attribute is added permitting multiple tasks to be enqueued If TA_WSGL is selected the TA_WSGL attribute is added prohibiting multiple tasks from being enqueued 4 Clear attribute Definition format Symbol Definition range YES or NO Default value NO Specify whether the TA_CLR attribute should be added as an eventflag attribute If YES is selected the TA_CLR attribute is added If NO is selected the TA CLR attribute is not added Semaphore definition This definition is necessary to use Semaphore function lt lt Format gt gt Semaphore Definition semaphore ID No name ID name initial count Initial value of semaphore counter max count Maximum value of the semaphore counter W The ID number must be in the range of 1 to 255 The ID number can be omitted If omitted numbers are automatically assigned seguentially beginning with the smallest 146 lt lt Content gt gt Define the following for each semaphore ID number 1 ID Name Definition format Symbol Definition range None Default value None Defi
165. upt Handlers MR8C 4 s interrupt handlers consist of kernel OS dependent interrupt handlers and non kernel OS independent interrupt handlers The following shows the definition of each type of interrupt handler Kernel OS dependent interrupt handler An interrupt handler whose interrupt priority level is lower than a kernel interruption mask level OS interrupt prohibition level is called kernel OS dependent interrupt handler That is interruption priority level is from 0 to system_IPL A service call can be issued within a kernel OS dependent interrupt handler However interrupt is delayed until it becomes receivable the kernel management OS dependence interrupt handler generated during service call processing kernel management OS dependence interruption Non kernel OS independent interrupt handler An interrupt handler whose interrupt priority level is higher than a kernel interrupt mask level OS interrupt pro hibition level is called non kernel interrupt handler OS independent handler That is interruption priority level is from system_IPL 1 to 7 A service call cannot be published within an interruption OS independence kernel management outside hair drier However the kernel management generated during service call processing outside even if it is the section where interruption cannot receive a kernel management OS dependence interrupt handler OS independence it is possible to receive interruption kernel mana
166. vdtcH ander 98 sta cyc Start cyclic handler operatton cnn rc 99 stp cyc Stops cyclic handler operation e 2e eee eee eee eee eee eee een ee na eee t KAR tn 100 5 8 Time Management Function Alarm Handler 101 sta alm Start alarm handler Operation ENEE 102 stp alm Stop alarm handler operation ooococinnccicnccconnnoconnconnconn nena nccnnncr nc 104 5 9 System Status Management FUNCTION e e eee eee conca nn nene anne nana tn nh 105 get tid Reference task ID in the RUNNING State eee eee eee eee ener 106 loc cpu EOGK MEIGS PU gesch eege ada dois 107 uni cpu Unlock the CPU ssenari a i a a a 109 dis dsp Disable dispatching ccceccceeceeeeeeeeeeceeeaee eee eeaeeeae rc 110 ena dsp Enables dispatching ccceccecceesceescecsceceeeeeseecaeeenaeenaeenaeeaaesaaessaesaaesaaeeeeaeeeeseaeeeaaeeaaeeaaees 112 SIS CX A E SA A A 113 SMS loc Reference CPU statesnis kiaiii e rc 114 sns dsp Reference dispatching estate 115 5 10 Interrupt Management FUNCTION cnc 116 ret int Returns from an interrupt handler when written in assembly language 117 iv 5 11 System Configuration Management Funcdion 22 22 4 2eeeeeee eee eee eee eee nn ref ver Reference version Information 6 Applications Development Procedure Overview e eeeeeererreereeee cnn rre EL VT Z Detailed APpli Cations isseire
167. x gt near line xx xxxx cfg The symbol definition in definition item XXXX is incorrect Check the valid range of definition cfg8c Error too big XXXX s ID number gt lt xx gt xxxx cfg A value is set to the ID number in XXXX definition that exceeds the total number of objects defined The ID number must be smaller than the total number of objects cfg8c Error too big task x s priority gt lt xx gt near line xxx xxxx cfg The initial priority in task definition of ID number x exceeds the priority in system definition 157 cfg8c Error too big IPL gt lt xx gt near line xxx xxxx cfg The system clock interrupt priority level for system clock definition item exceeds the value of IPL within service call of system definition item cfg8c Error system timer s vector lt x gt conflict near line xxx A different vector is defined for the system clock timer interrupt vector Confirm the vector No x for interrupt vector definition cfg8c Error XXXX is not defined xxxx cfg XXXX item must be set in your configuration file cfg8c Error system s default is not defined These items must be set int the default configuration file cfg8c Error double definition lt XXXX gt near line xxx xxx cfg XXXX is already defined Check and delete the extra definition cfg8c Error double definition XXXX x near line xxx default cfg cfg8c Error double definition XXXX x near line xxx xxxx cfg The ID number in item XX
168. y one of the specified bits is set e Wait for Eventflag polling pol_flg Examines whether the eventflag is in a certain pattern In this service call tasks are not placed in WAITING state 45 4 2 5 Synchronization and Communication Function Data Queue The data gueue is a mechanism to perform data communication between tasks In Figure 4 12 for example task A can transmit data to the data gueue and task B can receive the transmitted data from the data gueue Task A Task B ejed ezed ezed Figure 4 12 Data queue Data in width of 16 bits can be transmitted to this data queue The data queue has the function to accumulate data The accumulated data is retrieved in order of FIFO However the number of data that can be accumulated in the data queue is limited If data is transmitted to the data queue that is full of data the service call issuing task goes to a data transmission wait state There are following data queue service calls that are provided by the MR8C 4 kernel Send to Data Queue snd_dtq The data is transmitted to the data queue If the data queue is full of data the task goes to a data transmission wait state e Send to Data Queue psnd dro ipsnd dro The data is transmitted to the data gueue If the data gueue is full of data the task returns error code without going to a data transmission wait state e Receive from Data Queue rev do The data is retrieved from the data gueue If the data gueu

MR8C/4 V.1.00 User`s Manual (Real

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