RM-IAR430 Salvo Compiler Reference Manual – IAR
Contents
1. delays and events tasks can wait with timeouts 300 I standard IAR C C Compiler option no option i library includes debugging information target 430 for MSP430 architecture 430x for MSP430X architecture Figure 1 Salvo library nomenclature IAR s MSP430 C compiler Note Each successive version of IAR s MSP430 C C compiler uses different library formats Therefore independent sets of Salvo libraries are available for each compiler version see libraries in Table 1 above Salvo Lite distributions contain freeware libraries All other Salvo distributions contain standard libraries See the Libraries chapter of the Sa vo User Manual for more information on library types When targeting the MSP430X e g MSP430FG4619 and wishing to use MSP430X extensions i e 20 bit address space etc 430x Salvo libraries must be selected 430 Salvo libraries should be used on the MSP430 e g MSP430F1611 Salvo Pro users can select between two sets of libraries standard libraries and standard libraries incorporating source level debugging information The latter have been built with the appropriate command line options This adds source level debugging information to the libraries making them ideal for source level debugging and stepping in the C SPY debugger To use these libraries simply select one that includes the debugging information e g salvoliar430it r43 instead of one without e g salvoliar432. 0 t r43 in your Embedded Workbench project RM IAR430 Salvo Compiler Reference Manual IAR MSP430 C The RTOS that runs in tiny places Configuration Build Settings Available Libraries Reference Manual Different library configurations are provided for different Salvo distributions and to enable the user to minimize the Salvo kernel s footprint See the Libraries chapter of the Sa vo User Manual for more information on library configurations Salvo s libraries for AR s MSP430 C compiler are built using the default settings outlined in the Libraries chapter of the Sa vo User Manual Target specific settings and overrides are listed in Table 2 Target specific Settings Delay sizes 8 bits dummy can be overridden disables then restores GIE bit can be overridden Watchdog hook clears WDT without other changes can be overridden System tick counter available 32 bits Task priorities enabled Idling hook Interrupt hook Table 2 Build settings and overrides for Salvo libraries for IAR s MSP430 C compiler Note Salvo Lite libraries have precompiled limits for the number of supported tasks events etc Salvo LE and Pro libraries have no such limits See the Libraries chapter of the Salvo User Manual for more information Salvo Lite for TI s MSP430 contains a single freeware library Salvo LE for TI s MSP430 adds standard libraries in all configurations Salvo Pro for TI s MSP430 adds standard libraries in all config
3. 30 C In library builds users can define new hook functions in their projects and the linker will choose the user function s over the default function s contained in the Salvo library In source code builds users can remove the default hook file s from the project and substitute their own hook functions The default idling hook in salvohook_idle c is a dummy function as shown below void OSIdlingHook void Listing 4 Default Salvo idling hook for IAR s MSP430 C compiler The RTOS that runs in tiny places Interrupt Reference Manual Users can replace it e g with a directive to put the FM430 to sleep by building their own version with their application The default interrupt hooks in salvohook_interrupt_IAR430_GIE c are shown below static istate_t s void OSDisableHook void istate_t t __get_interrupt_state __disable_interrupt S t void OSEnableHook void __set_interrupt_state s Listing 5 Default Salvo interrupt hooks for IAR s MSP430 C compiler These functions clear the GIE bit i e disable global interrupts across Salvo s critical section and restore the GIE bit to its pre critical section value thereafter Interrupts are not re enabled inside of ISRs with these functions thereby avoiding unnecessary or unwanted interrupt nesting Therefore these default interrupt hooks are suitable for all applications Note By saving the interrupt state
4. Reference Manual 750 Naples Street San Francisco CA 94112 e 415 584 6360 htto www pumpkininc com Salvo Compiler Reference Manual AR MSP430 C J Salvo The RTOS that runs in tiny places created by Andrew E Kalman on Mar 21 2003 updated on Apr 29 2008 All trademarks mentioned herein are properties of their respective companies The RTOS that runs in tiny places Introduction Reference Manual This manual is intended for Salvo users who are targeting TI s MSP430 ultra low power single chip microcontroller with IAR s http www iar com Embedded Workbench for MSP430 Related Documents Example Projects Features The following Salvo documents should be used in conjunction with this manual when building Salvo applications with IAR s MSP430 C compiler e Salvo User Manual Example Salvo projects for use with IAR s MSP430 C compiler and the Embedded Workbench IDE can be found in the Pumpkin Salvo Example MSP430 MSP430x1xx Pumpkin Salvo Example MSP430 MSP430x4xx directories of every Salvo for TI s MSP430 distribution Tip These example projects can be easily modified for any MSP430 device Table 1 illustrates important features of Salvo s port to IAR s MSP430 C compiler RM IAR430 Salvo Compiler Reference Manual IAR MSP430 C General Abbreviated as TAR430 Available distributions Sr rar ee Supported targets all MSP430 and MSP430X devices Header file s salv
5. e default watchdog hook in salvohook_wdt_IAR430_CLRWDT c is shown below void OSClrWDTHook void WDTCTL WDTCTL amp OxOOFF WDTPW WDTCNTCL Listing 7 Default Salvo watchdog hook for IAR s MSP430 C compiler Users can replace it e g with a dummy function this would stop Salvo from clearing the watchdog timer and allow the user to clear it elsewhere by building their own version with their application Runtime Models and Compatible Libraries The runtime models used by Embedded Workbench for MSP430 have evolved over the years When building an application with Salvo libraries it s necessary to link to the libraries compatible with the version of Embedded Workbench for MSP430 that you RM IAR430 Salvo Compiler Reference Manual IAR MSP430 C 9 The RTOS that runs in tiny places Reference Manual are using Table 4 lists the locations of Salvo libraries as a function of the Embedded Workbench for MSP430 version Pa aa IARC IAR Salvo Library orkbench for Compiler Runtime Focon MSP430 Version Version Model 2 0 v1 x 1 Lib TAR430 v1 30 v2 X 1 Lib IAR430 v2 4 0 V3 X 2 Lib TAR430 v3 5 0 v4 x 3 Lib IAR430 v4 Table 4 Compiler versions runtime models and Salvo library locations for IAR s MSP430 C compiler Incompatible Optimizations 10 Code Motion The code motion optimization controlled via a checkbox in the Embedded Workbench IDE and or disabled via the no_code_motion command line direct
6. efine OSEVENT_FLAGS 2 define OSMESSAGE QUEUES 4 Listing 3 Example salvocfg h for source code build Performance Interrupt Latencies Since Salvo s context switcher for IAR s MSP430 C compiler does not need to control interrupts Salvo applications can easily be created with zero total interrupt latency for interrupts of interest 6 RM IAR430 Salvo Compiler Reference Manual IAR MSP430 C The RTOS that runs in tiny places Memory Usage User Hooks Reference Manual In a properly configured application only those interrupts that call Salvo services will by necessity experience interrupt latency from Salvo s operations Users must ensure that these interrupt sources are disabled and re enabled via the user interrupt hooks Disabling and re enabling interrupts globally in the user interrupt hooks i e the default user interrupt hook behavior is of course permitted but will result in non zero interrupt latencies for all interrupt sources even those that do not call Salvo services See the target specific source files of this distribution for examples Example Application Program Memory Data Memory Usage Usage MSP430x1xx tut5lite 1486 61 MSP430x1xx tut5le 1448 61 MSP430x1xx tut5pro 1658 61 Table 3 ROM and RAM requirements for Salvo applications built with IAR s MSP430 C compiler Overriding Default Hooks Idling RM IAR430 Salvo Compiler Reference Manual IAR MSP4
7. ive in compiler version 2 and later may cause problems in Salvo applications when applied to the scheduler contained in the salvosched c module and to Salvo tasks Therefore code motion is disabled in Salvo libraries for IAR s MSP430 C compiler and should be explicitly disabled by the user within Embedded Workbench for MSP430 projects Note Code motion may or may not be enabled with the optimization level none low medium or high and approach balanced speed or size chosen by the user Be sure to explicitly disable code motion in your Embedded Workbench project This is done automatically through the __ ITAR_SYSTEMS_ICC__ and __TID symbols defined by the compiler msp430 h for compiler version 3 and later For earlier versions use appropriate ioxxx h file The Salvo libraries provided with Salvo Lite and LE do not contain C SPY compatible debugging information because this requires the inclusion of source file listings Salvo 4 1 0 rcO with v3 42A compiler In bytes Salvo code only In bytes Salvo objects only This hook is valid for all MSP430 and MSP430X targets Thanks to Salvo user Dave Hohl for suggesting this method over one written in assembly This hook is valid for MSP430 and MSP430X targets because the watchdog control register is the same for all targets oN DWH A RM IAR430 Salvo Compiler Reference Manual IAR MSP430 C
8. oportiar430 h Other target specific file s salvoportiar430 s43 salvocfg h Compiler auto detected yes Include target specific header file yes use in salvocfg h include lt msp430 h gt Libraries Lib IAR430 v1 for v1 x compilers Lib IAR430 v2 for v2 x compilers Located in Lib IAR430 v3 for v3 x compilers Lib IAR430 v4 for v4 x compilers Context Switching function based via Method OSDispatch amp OSCtxSw Labels required no Size of auto variables and total size must not exceed 255 8 bit function parameters in tasks bytes Interrupts Interrupt latency in context switcher Interrupts in critical sections controlled via Default behavior in critical 0 cycles user hooks see example user hooks sections Debugging Source level debugging with Pro library builds vee Compiler Bitfield packing support no printf p support yes yes va_arg support yes Table 1 Features of Salvo port to IAR s MSP430 C compiler Libraries Nomenclature The Salvo libraries for IAR s MSP430 C compiler C compiler follow the naming convention shown in Figure 1 RM IAR430 Salvo Compiler Reference Manual IAR MSP430 C 3 The RTOS that runs in tiny places Type Target Option Reference Manual salvofiar430x t r43 Salvo library _ configuration multitasking with delays and events multitasking with delays type multitasking with events f freeware multitasking only multitasking with
9. to an auto variable OSDisableHook avoids the potential for the global variable s being overwritten should an interrupt that calls a Salvo service occur between when the interrupt status is read and when it is saved to s For greater runtime performance users can replace these functions with targeted interrupt control functions by building their own version with their application For example if the Salvo service OSTimer is the only Salvo service called from the foreground i e interrupt level and it s called only via the TimerAO ISR then the following functions to disable and re enable TimerAO s interrupt enable bit are all that is required e g RM IAR430 Salvo Compiler Reference Manual IAR MSP430 C The RTOS that runs in tiny places Reference Manual Watchdog Compiler Issues void OSDisableHook void TACCTLO amp CCIE void OSEnableHook void TACCTLO CCIE Listing 6 Example of user interrupt hooks where only TimerA0 ISR calls Salvo services With the hooks shown in Listing 6 only the TimerAO interrupt is disabled during Salvo s critical sections All other interrupts sources and the GIE bit are untouched This allows other interrupts that do not call Salvo services to proceed with zero interrupt latency due to Salvo Warning Not disabling all source of interrupts that call Salvo services during critical sections will cause the Salvo application to fail Th
10. urations with debugging information included Each Salvo for TI s MSP430 distribution contains the Salvo libraries of the lesser distributions beneath it Target Specific Salvo Source Files RM IAR430 Salvo Compiler Reference Manual IAR MSP430 C The source file salvoportiar430 s43 is needed for Salvo Pro source code builds It automatically detects whether the target is part of the MSP430 or MSP430X architecture me dV 0 Reference Manual salvocfg h Examples Below are examples of salvocfg h project configuration files for various different Salvo distributions and the MSP430F1612 Salvo Lite Library Build define OSUSE_ LIBRARY TRUE define OSLIBRARY_TYPE OSF define OSLIBRARY CONFIG OST define OSTASKS 2 define OSEVENTS 4 define OSEVENT_FLAGS 0 define OSMESSAGE QUEUES L Listing 1 Example salvocfg h for library build using salvofiar430 t r43 Salvo LE amp Pro Library Build define OSUSE_LIBRARY TRUE define OSLIBRARY_TYPE OSL define OSLIBRARY_CONFIG OST define OSTASKS 7 define OSEVENTS 13 define OSEVENT_FLAGS 3 define OSMESSAGE_QUEUES 2 Listing 2 Example salvocfg h for library build using salvoliar430 t r43 or salvoliar430it r43 Salvo Pro Source Code Build define OSENABLE IDLING _HOOK RUE define OSENABLE_ SEMAPHORES RUE define OSTASKS 9 define OSEVENTS 17 td
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