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IM3910 IC Datasheet

1. Datasheet IM3910 Microcontroller Revision 1 3 Copyright Imsys Technologies AB Imsys Technologies ta LEE Imsys Technologies AB Sweden Johanneslundsvagen 3 SE 194 61 Upplands Vasby Sweden 46 8 594 110 70 phone 46 8 591 110 89 fax Imsys Technologies USA 9903 North Poetry Ln Terrell TX 75160 USA 1 877 775 1627 VAT 838 Henderson Ave 556453 3247 01 Sunnyvale CA 94086 USA Web www imsystech com Go VS h O wm re wm GC D wm O Q rie Q ZU OD D C Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Copyright Copyright Imsys Technologies AB All rights reserved No part of this document may be reproduced or translated into any language by any means without the written permission of Imsys Technologies AB Disclaimer Imsys Technologies AB makes no warranties for the contents of this document or the accuracy or completeness thereof and disclaims any implied warranties of merchantability or fitness for any particular purpose Further Imsys Technologies AB reserves the right to revise this document and to make changes without notifications to any person of such changes The information contained in this document is provided solely for use in connection with Imsys Technologies AB products This document should not be construed as transferring or granting a license to any intellectual property righ
2. 1 3 Network Subsystem The Network Subsystem as a part of the System Software is responsible for the networking support and network communications Its major part is TCP IP protocol stack software which provides the support for TCP IP environment and TCP IP communications over Ethernet and serial links The TCP IP stack software was designed to be fully reentrant and multithreaded safe as well as scalable and highly configurable It is compliant with standards and has a reach application programming interface TCP IP Stack Architecture In general functional architecture of the TCP IP stack is the same as in any other TCP IP implementations It comprises four major layers link layer network layer transport layer and application layer These layers interact with each other via well defined interfaces A Link layer provides an abstract view of a network interface device or adapter and isolates its details from upper layers Link layer includes device drivers for real or virtual pseudo hardware and implementations of underlying physical network protocols Currently TCP IP link layer software provides following components driver for internal loopback adapter pseudo device driver for Imsys Ethernet Adapter and implementations of loopback and Ethernet Il protocols A Network layer provides the basic packet transmission service as well as addressing and routing services It uses the link layer interfaces to communicate with networ
3. 4 1 4 2 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Operating System The operating system named Rubus is a major part of the system software Along with hardware drivers it provides a simplified interface for using and managing hardware resources as well as an operating environment for system and application tasks Features The Rubus OS is a real time multithreaded operating system It is designed for real time systems mainly having soft real time requirements The key features of the Rubus OS are Object based all system entities are represented as objects Multithreaded shares processor time between several threads of execution Event driven supports two types of event handling interrupts and services both can be involved for a processing of a single event o Priority based provides 256 priority levels 32 levels for interrupts 32 levels for services and 192 levels for threads o Preemptible any thread can be preempted by another thread with a higher priority Interruptible any thread interrupt or service can be interrupted by another interrupt or service with a higher priority Synchronization provides various mechanisms for threads synchronization Event Logging have a built in event logging facilities Error Handling have a common error handling mechanism Oo O O oO POSIX Compatible provides a programming int
4. An I O is done though the bi directional xmit routine which takes the data buffer and its size as arguments The data will always be sent and received simultaneously The buffer content sent on the MOSI line will be replaced by the data received on the MISO line I2C The configuration and the initialization of the I2C interface are very simple First the port pin set is selected from two options a standard set default or an alternate set Then an initialization routine is called which initializes port pins to their idle state An I O is performed though a set of read and write routines They allow reading or writing a one byte or multiple bytes All of these routines take a slave device address and a delay constant as arguments and depending on its type a data value or a data buffer and its size 25 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 6 1 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 File Subsystem The File Subsystem is an integral part of the System Software which provides a file based access to the data stored on different media types such as FLASH memory devices SD MMC memory cards RAM disks The file subsystem has a layered architecture Layers interact with each other though a well defined interface Application
5. STO DEV7028 AG Date 2008 08 13 Revision 1 3 Hex bytecode Implementation ac ireturn Emulated ad lreturn Emulated ae freturn Emulated af dreturn Emulated bO areturn Emulated b1 return Emulated b2 getstatic Emulated b3 putstatic Emulated b4 getfield Emulated Quickcode b5 putfield Emulated Quickcode b6 invokevirtual Emulated Quickcode b7 invokespecial Emulated Quickcode b8 invokestatic Emulated Quickcode b9 invokeinterface Emulated Quickcode ba unused S bb new Emulated bc newarray Emulated bd anewarray Emulated be arraylength Emulated bf athrow Emulated CU checkcast Emulated c1 instanceof Emulated c2 monitorenter Emulated c3 monitorexit Emulated c4 wide Native c5 multianewarray Emulated c6 ifnull Native c7 ifnonnull Native c8 goto_w Native c9 jsr_w Emulated 39 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Appendix C C API Functions Summary Table 6 Rubus Function Summary Functions Description __errno Get current error event_call Call a service event handler event_install Install an event handler event_remove Remove an event handler event_request Request a service event handler mq_close Close m
6. 2008 08 13 Revision 1 3 Functions Description getdrive Get current drive number getenv Get an environment variable gets Read string from stdin gmtime Converts a time value to a broken down UTC time isalnum Test for an alphanumeric character isalpha Test for an alphabetic character iscntrl Test for a control character isdigit Test for a digit isgraph Test for a printable character except space islower Test for a lower case character isprint Test for a printable character including space ispunct Check if a character is printable but not space or alphanumeric isspace Check if a character is white space isupper Check if a character is upper case isxdigit Check if a character is a hexadecimal digit labs Calculate the absolute value of a long Idiv Compute quotient and remainder of an integer division localtime Convert a time value to a broken down local time longjmp Do a long jump Iseek Move the read write file offset malloc Allocates a memory block mblen Get the number of bytes in next multibyte character mbstowcs Convert a multibyte string to a wide character string mbtowc Convert a multibyte string to a wide character memchr Search for a character in memory memcmp Compare memory areas memcpy Copy memory area memmove Copy memory area memset Fill memory with a constant byte mkdir Create directory mktime Convert a broken down time structure into a time stamp open Open file opendir Open directory perror Prints sys
7. Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 o If TCP IP configuration parameters were not provided it tries to read them from a permanent storage such as on board flash memory It initializes the link layer by calling each network interface driver s entry point It initializes the network layer by invoking IP and ARP initialization routines It initializes the transport layer by calling each transport module initialization routine It configures the internal loopback interface Oo Oo 0 O It either configures the Ethernet interface manually if configuration parameters were specified or requests the DHCP client to configure it dynamically o Finally it sets the hostname and parameters for a name resolution client This routine has to be called after the Rubus OS has been initialized and started 30 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 8 1 8 2 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Shell Environment The shell called ISH Imsys Shell is responsible for the high level system initialization for execution of various servers and for pro
8. as COM SPI DC o File Subsystem supplies a file based access to the data stored on different media types such as FLASH memory SD MMC memory cards RAM disk o Network Subsystem provides the support for TCP IP network communications over Ethernet and serial links o Shell Environment provides a UNIX like command shell as well as Telnet and FTP services Below is a description of each System Software component Hardware Drivers Hardware drivers are the thin layer of software which hides the hardware specific implementation details and provides a simple interface to the hardware resources They are also responsible for low level system initialization such as setting pin directions initializing DMA controller installing low level interrupt handlers and so on The System Software includes the system driver a driver for the base hardware platform and interface drivers drivers for different hardware I O interfaces Ethernet Serial I2C SPI Oo O O Oo Hardware drivers are mostly invisible for applications as applications normally do not have a direct access to the underlying hardware but uses facilities provided by higher level components such as an operating system or a file system to perform an UO and other tasks 12 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB
9. assess to the local file system It supports both get and put operations The number of simultaneous connections and the server priority can be specified through environment variables 31 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 8 3 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Command Interface The shell provides a UNIX like command interface over serial or TCP IP channels It operates as any other command interpreter i e reads its standard input detects a command executes it and output the result into its standard output For information about supported commands see ISH User Manual 32 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Appendix A Java API Summary The following classes from JDK 1 1 8 are supported java io BufferedinputStream java io BufferedOutputStream java io BufferedReader java io BufferedWriter java io File java io FileDescriptor java io FilelnputStream java io FilenameFilter java io FileNotFoundException java io FileOutputStream java io FilterInputStream j
10. global 32 bit register contains the bit mask of pending interrupts o PSR Pending Service Register global 32 bit register contains the bit mask of pending services o FLAGS DIEI Disable Interrupts Enable Interrupts thread specific flag that temporary disables execution of all interrupts and services o SW PLR Priority Level Register thread specific register that indicates on which priority level the thread is currently running When an interrupt is detected by the hardware the EIR register is first checked to see whether such interrupt is enabled 1 in the corresponding bit position or not If it is enabled the corresponding bit is set in PIR When a service is requested by the software the corresponding bit is set in PSR If interrupts are not disabled by the DI flag the highest priority interrupt or service is selected and PLR is checked to see if the current priority level is lower than the priority level of the interrupt or service to be serviced If so the current state is saved onto the interrupted thread stack PLR is set to the priority level of the interrupt interrupts are disabled by the DI flag and the execution is transferred to the corresponding event handler After the event handler executes its last statement the state is restored and the execution is returned back to the interrupted thread If a higher priority interrupt or service occurs during an execution of an event handler it should be inter
11. installs two handlers Thread Scheduling Handler and Time Supervising Handler o Initializes the Interrupt Vector Table and installs a handler for the Timer Interrupt which will process interrupts generated by the timer block when one of its timers expires Installs Kernel Service handler and Dispatch Service handler Installs a system wide error handler specified as an initialization parameter Initializes the Event Log with the buffer specified as an initialization parameter Initializes the Object Access Table Initializes thread lists Creates and initializes System Process Kernel Thread and Idle Thread Oo O O O O The Start routine starts execution of the previously created System Process The thread assigned the highest priority will be executed first From now interrupts and services are enabled Upon successful completion this routine shall NOT return 24 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 5 1 5 2 5 3 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Communication Drivers Communication drivers are high level drivers that provide a well defined access to the facilities of different communication interfaces such as COM SPI DC Each communication driver tightly cooperates with the corresponding hardware interface
12. modified or completely rewritten to take advantage of the IM3000 processors unique Java capabilities Figure 1 Java Runtime Environment Running Java Applications The JVM is started by the Imsys Shell ISH during the system startup There can in be only one instance of the JVM running at the same time but several Java applications can run simultaneously sharing the same Java heap Java applications are started either automatically by ISH at system startup or explicitly by the user from the ISH command line For more information about ISH see chapter 8 Java API The base of the Java API is the Connected Limited Device Configuration CLDC version 1 0 The API also contains a subset of JDK 1 1 8 and the javax comm package A number of Imsys specific classes that give the Java applications access to system resources are also available 7 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB IM3910 Microcontroller Date 2008 08 13 Revision 1 3 Datasheet Document no STO DEV7028 AG The different groups of API classes o CLDC 1 0 o Subset of JDK 1 1 8 o javax comm o msys specific classes 1 2 1 _Imsys Java API The Imsys specific Java API contains a number of packages that gives access to system resources not available from the standard APIs Table 1 Package se imsys com
13. 3 Native 4b astore_0 Native 4c astore_1 Native 4d astore 2 Native Ae astore_ 3 Native 4f iastore Native 50 lastore Native 51 fastore Native 36 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Hex bytecode Implementation 52 dastore Native 53 aastore Native 54 bastore Native 55 castore Native 56 sastore Native 57 pop Native 58 pop2 Native 59 dup Native 5a dup _ x1 Native 5b dup_x2 Native 5c dup2 Native 5d dup2_x1 Native 5e dup2_x2 Native 5f swap Native 60 iadd Native 61 ladd Native 62 fadd Native 63 dadd Native 64 isub Native 65 Isub Native 66 fsub Native 67 dsub Native 68 imul Native 69 Imul Native 6a fmul Native 6b dmul Native 6c idiv Native 6d Idiv Native 6e fdiv Native 6f ddiv Native 70 irem Native 71 Irem Native 72 frem Emulated 73 drem Emulated 74 ineg Native 75 Ineg Native 76 fneg Native TT dneg Native 78 ishl Native 79 Ishl Native 7a ishr Native 7b Ishr Native 7c iushr Native 7d lushr Native Te iand Native 37 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed
14. Exception javax comm CommDriver javax comm CommPort javax comm CommPortldentifier javax comm CommPortOwnershipListener javax comm NoSuchPortException javax comm PortInUseException javax comm SerialPort javax comm SerialPortCommDriver javax comm SerialPortEvent javax comm SerialPortEventListener javax comm SerialPortlmplementation javax comm UnsupportedCommOperationException Differs from JDK 1 1 8 34 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Appendix B ISAJ Summary The following table lists the instructions in the ISAJ instructions set It also shows how the instructions are implemented as native instructions or emulated Table 5 ISAJ Summary Hex bytecode Implementation 00 nop Native 01 aconst_null Native 02 iconst_m1 Native 03 iconst_O Native 04 iconst_1 Native 05 iconst_2 Native 06 iconst_3 Native 07 iconst_4 Native 08 iconst_5 Native 09 Iconst_0O Native Oa Iconst_1 Native Ob fconst_0 Native Oc fconst_1 Native Od fconst_2 Native Oe dconst_0 Native Of dconst_1 Native 10 bipush Native 11 sipush Native 12 Idc Emulated 13 Idc_w Emulated 14 Idc2_w Em
15. Imsys Java E 8 1 3 Nalive Byt ecode Eent rarnana Ada dE aniei 9 1 4 K Native Interface RN 10 1 5 AEE EAE S E EE EEA NETET 10 1 6 Preverifie up ege SEENEN EE A aa a 10 1 7 The Garbage Collector and the Heap 11 2 System Software Overview esesssesesesesesesesesesesesesesesesesesesesesesosososeses 12 3 Hardware DIVES egeegerte giereg eege deer 12 4 al te EE E EE 13 4 1 EEE E A See E Eed deed ed 13 4 2 le E 13 4 3 PROCESSCS Be 14 4 4 Interrupts ANd Gervices rttr reeene ennn 15 4 5 System Clock and lr EE 16 4 5 1 Systemi E 16 4 5 2 TEA ee ee ed e 17 4 6 Scheduling Policy and Thread Switching sseessseseeeeeneerseerrnereseere 17 4 6 1 Priority SCREGUING 2 Aa Naha he Le aha enka eae eke veto 17 4 6 2 P fiodic SCHEOUINNG EE 18 4 6 3 Asynchronous SCHOGUHING EE 18 4 6 4 Re SWHERING tect Se ah a eee abc Platt tae 18 4 7 Synchronization Mechanisme 19 4 7 1 ee TEE 19 4 7 2 MUL OKC ed a TAR Lae a STA ee ae 20 4 7 3 SCMIAD NOMS ed 21 4 7 4 leet 21 4 7 5 Message QUOUCS cicesszccncccieviess tacts neeecnaveacdiessceptenseqiowienecieteaeeasvenstee 22 4 8 Error Handling sssri rse tsere eee oa EEE Ea need ca dradeneredcct scent 22 4 9 Event Logging WE 23 4 10 System Initialization and Startup 0 0 0 0 eceeeeeeeeeeeeeeeneeeeeeeeeeseeeeenaeeees 24 5 Communication Drivers iscc ctinccccssccsecccores csencdscceasecessesocdsesscessesasensaseass 25 5 1 OM ege tee ee E Ee 25 5 2 SPU RE 25 4 47 Th
16. Layer Normally to perform file related tasks applications use file I O functions from a standard C library This is the upper most layer Common API Layer The layer below is the Common API that hides the differences and implementation details of underlying file systems and provides a single and consistent interface to the application layer File System Layer The next layer is the file system implementation Two file systems are supported SAFE an efficient and failsafe file system for internal flash devices and FAT a traditional file system for a PC compatible media Media Type Driver Layer The next layer is a high level driver for each general media type that shares common properties This driver handles issues of FAT maintenance wear leveling etc Physical Device Driver Layer The bottom layer is the low level physical device driver which does the translation between the high level driver and physical device hardware SAFE File System The SAFE is an efficient and failsafe file system It was designed primarily for internal flash devices but can also be used on RAM disks The file system key features are o Power Fail Safety the system may be stopped and restarted at any point of time and no data will be lost The previous completed state of the file system will be restored o Dynamic Wear the file system allocates the least used blocks from those available thus maximizing the flash device lifetime o Multithre
17. Places a socket into a state in which it can receive incoming connections recv Receives data from a connected socket recvfrom Receives data from a socket with its source address send Sends data on a connected socket sendto Sends data on a socket to a specific destination setsockopt Sets a socket option shutdown Shuts down a connection on a socket socket Creates an endpoint for communication and returns its descriptor 43 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Table 11 Standard Library Function Summary Functions Description abort Causes abnormal program termination abs Computes the absolute value of an integer asctime Converts date and time to a string assert Aborts the program if assertion is false atexit Registers a function to be called at program termination atof Convert a string to a double atoi Convert a string to an integer atol Convert a string to a long bsearch Binary search of a sorted array calloc Allocate memory and set content to zero chdir Change working directory chdrive Change current drive clearerr Cl
18. aded the file system supports simultaneous assess to files from multiple threads o Long File Names the file system supports file names of almost unlimited length The file name handling is efficient it is build from a chain of small blocks and that blocks are allocated and added automatically Multiple Volumes the file system supports multiple volumes Multiple Open Files the file system allows multiple files to be opened simultaneously on a volume or on different volumes o Unicode File Names the file system supports Unicode file names 26 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 6 2 6 3 6 4 6 5 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 FAT File System The FAT is a traditional file system for a PC compatible media such as MMC SD flash memory cards It can also be used on RAM disks The file system key features are o Multithreaded the file system supports simultaneous assess to files from multiple threads Long File Names the file system supports file names of up to 260 bytes length Multiple Volumes the file system supports multiple volumes Multiple Open Files the file system allows multiple files to be opened simultaneously on a volume or on different volumes Unicode Fil
19. are constitutes the source of the System Clock The System Clock is incremented continuously when the periodic timer expires The System Clock is reset at system start The time supervision of threads thread scheduling and periodic events handling performed by Rubus OS is based on this clock 16 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 4 5 2 4 6 4 6 1 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Timers The System Clock supports 8 high resolution timers For each timer there is a counter and a reload register associated When the timer expires it is reloaded with the value of the reload register If the reload value is not null it is a periodic timer The maximum expiration time value is 255 milliseconds 8 bits value for each timer Each of these timers has a handler associated that is called when the related timer expire The handler is called via a subroutine call Two of these timers are reserved for internal use One is used for measuring a thread execution time and implementing a round robin scheduling policy Another is for maintaining a Real Time Clock supervising time waiting threads and supporting periodic events See the C API Reference Manual for a detailed description on how to access system time use high resolut
20. ava io FilterOutputStream java io Serializable java io SyncFailedException java lang Double java lang Float java lang Number java lang llegalAccessError java lang InternalError java lang LinkageError java lang NoClassDefFoundError java lang Number java lang VirtualMachineError java net BindException java net ConnectException java net ContentHandler java net ContentHandlerFactory java net DatagramPacket java net DatagramSocket java net FileNameMap java net HttpURLConnection O O O O O O O O O O O O O O O O O O O O O O O O O O O O 0 0 0 0 java net InetAddress 33 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O 0 0 java net MalformedURLException java net MulticastSocket java net NoRoutetoHostException java net ProtocolException java net ServerSocket java net Socket java net SocketException java net UnknownHostException java net UnknownServiceException java net URL java net URLConnection java net URLStreamHandler java net URLStreamHandlerFactory java util Enumeration java util EventListener java util EventObject java util Locale java util Properties java util String Tokenizer java util TooManyListeners
21. copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Hex bytecode Implementation Tf land Native 80 ior Native 81 lor Native 82 ixor Native 83 Ixor Native 84 iinc Native 85 i2 Native 86 i2f Native 87 i2d Native 88 EI Native 89 l2f Native 8a 12d Native 8b f2i Native 8c f2l Native 8d f2d Native 8e d2i Native af d2l Native 90 d2f Native 91 i2b Native 92 i2c Native 93 i2s Native 94 Icmp Native 95 fcmpl Native 96 fcmpg Native 97 dcmpl Native 98 dcmpg Native 99 ifeq Native 9a ifne Native 9b ul Native 9c ifge Native 9d ifgt Native 9e ifle Native Of if icmpeq Native a0 if_icmpne Native a1 if _icmplt Native a2 if_icmpge Native a3 if_icmpgt Native a4 if icmple Native a5 if_acmpeq Native a6 if_ acmpne Native ai goto Native a8 jsr Emulated a9 ret Emulated aa tableswitch Native ab lookupswitch Native 38 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no
22. d thread becomes READY it becomes the tail of the thread list for its priority o When the RUNNING thread issues the yield call the thread becomes the tail of the thread list for its priority in state READY 17 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 4 6 2 4 6 3 4 6 4 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Periodic Scheduling Threads scheduled under the Periodic Scheduling policy are released periodically The period is the interval between successive unblocks of the thread o When released thread becomes a thread in state READY it becomes the tail of the thread list of its priority o A thread scheduled under this policy shall have completed its execution before the next period The latest permissible completion time measured from the release time of the thread is called the Deadline It shall be less or equal the period time Asynchronous Scheduling This policy is often also called Round Robin Scheduling policy Threads scheduled under the Asynchronous Scheduling policy are handled according to Priority Scheduling Policy with the additional condition o When the RUNNING thread has been executing for a time period of specified length or longer the thread becomes the tail of the thread list for its priority i
23. d try to reacquire the monitor Message Queues The message passing facility of the Rubus OS allows threads to communicate through message queues It provides services for opening and closing a message queue send a message to a message queue and receive a message from a message queue A Message Queue is an object having the following attributes A Message Queue contains messages of a fixed size A Message Queue supports copying messages to and from the queue A Message Queue object is dynamically allocated O O O O A Message Queue has no owner Different threads can do open and close operations The interface imposes a fixed upper bound on the size of messages that can be sent to a specific message queue The size is set on an individual queue basis When the message queue is empty the thread may wish to wait for a message to arrive The Receive Waiting List contains all threads waiting for the arrival of a message When the message is placed into the message queue the thread at the head of the list becomes unblocked The ordering of the Receive Waiting List is priority based the thread with the highest priority is inserted at the head of the list When the message queue is full the thread may wish to wait for a free message to become available The Send Waiting List contains all threads waiting for a free space in the message queue When this happens the thread at the head of the list becomes unblocked The ordering of the Send Wa
24. dependently of underlying transport protocol s semantics and hides each 28 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 7 2 7 2 1 7 2 2 7 3 7 4 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 protocol implementation details The TCP IP software includes reach protocol independent application programming interface compatible with BSD sockets All network applications using this API also belong to the application layer Application Layer Components The TCP IP software also includes a number of application layer components They implement application layer protocols which are parts of a TCP IP suite such as Dynamic Host Configuration Protocol and Domain Name System DHCP Client The DHCP Client plays an important role in the system initialization To operate in the TCP IP environment the system needs to know its IP address network mask and optionally a default gateway This information can be configured manually or distributed through the DHCP server So the DHCP client dynamically obtains these parameters from the DHCP server and automatically configures TCP IP stack software thus eliminating the need for manual configuration In the absence of a DHCP server on the network the system is connected to the DHCP client uses a
25. dler is assigned the System Error Handler is called o System Layer A default System Error Handler shall always be installed An error not directly connected to the running thread shall cause a call of this handler as well as if no Thread or Process Error Handler is installed In general all services return the error status of the operation the return value An operation can be successfully or unsuccessfully completed In case the operation is unsuccessfully completed the return value denotes the unsuccessful operation status and the error number is set into the object errno The error status of a service falls into the following categories An operation which always is successful the return value is omitted o An operation which may succeed or fail A successful operation is indicated by the return value containing integer zero or a non null pointer An unsuccessful operation is indicated by the return value containing 1 or a null pointer accompanied by setting errno to the value of error number The object errno is a logical object and is included into the context of a thread It can be acquired via a dedicated system service call see the C API Reference Manual The value of the object errno is defined only after a call for a service for which it is explicitly stated to be set and until it is changed by the next service call It should only be examined when it is indicated as valid by a return value of a service Event Logging T
26. document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 1 4 1 5 1 6 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 K Native Interface KNI The K Native Interface KNI is designed for J2ME by Sun Microsystems for resource constraint devices and can be described as a logical subset of the Java Native Interface JNI KNI enables the programmers to create native Java functions in C and assembler Native functions can be used to get access to system functions not available from the Java APIs Native functions can also be used to speed up execution in time critical parts of a Java application Even if most of the Java byte codes are executed as native processor instructions on the IM3000 processors it is possible to increase the performance by implementing functions in C and assembler This is due to the fact that some of the Java byte codes are rather complex and therefore more time consuming that equivalent instructions in C e g the Java invoke codes vs the C subroutine call instruction Preloaded Classes To speed up the startup time for Java applications all classes in CLDC are preloaded This means that the CLDC classes were loaded at compile time and are linked directly in the JVM Other classes in the API and user application classes are loaded by the JVM upon demand Prever
27. driver which in turn interacts with the underlying hardware All operations supported by any communication driver can be divided into the following types initialization configuration input output They are briefly described below For more detailed information see the C API Reference Manual COM Prior performing any I O operations on COM interface it should be initialized The initialization routine should be called ones In order to use COM port for I O operations an application first should open it All further references to that port are done through a handle returned by an open call After the port is not used anymore the application should close it and release the system resources The actual I O is performed via read or write routines which take the port handle the data buffer and its size as parameters The write operation is buffered so a flush operation is also provided The COM driver supports a lot of routines for COM port configuration control and management All of them require the port to be opened first SPI Prior performing any I O operations on SPI interface it should be initialized and configured The initialization routine initializes the hardware interface by setting up corresponding port pins A set of configuration routines allow to configure an operating mode and to set a bit rate The operating mode is configured by selecting a clock phase a clock polarity a bit order and by configuring a slave select line
28. e Names the file system supports Unicode file names Caching the file system supports FAT caching write caching and directory caching o PC compatibility FAT created partitions are Windows XP compatible File UO API An application can access files though the well known file I O functions of the Standard C library See the C API Reference Manual for details Volume Mounting Before accessing any files stored on the media the file system should mount it i e made it available to the system The mounted media is represented in the system as a volume which has a based number and a drive letter starting with A Any file on this volume identified by its full file name which includes the drive letter the full path and the file name For each type of supported media flash RAM disk MMC SD there is a corresponding mount routine See the C API Reference Manual for details Initialization The file system must be initialized before using any of its functions An initialization routine is provided for that purpose It should be executed before issuing any other file system call See the C API Reference Manual for details 27 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 7 1 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision
29. e in one of the following states DEAD the thread is terminated or not initialized BLOCKED the thread is blocked waiting for an event that unblock the thread READY the thread is ready for execution waiting to be the running thread RUNNING the thread is currently the executing thread Oo O O O The thread changes its status implicitly as the result of invoking a system service or as the result of an event The priority of a thread defines how often and how soon the thread will get the processor attention It can be any value in range 64 255 The lower value means the higher priority The highest and lowest priority levels 64 and 255 respectively are reserved for system threads See 4 6 for more information about thread scheduling At its startup the Rubus OS creates a System Process in which context all other threads are created and executed and two service threads o Idle Thread the lowest priority 255 thread which occupies the processor when no other threads are ready for execution o Kernel Thread the highest priority 64 thread which handles the thread cancellation and termination The Rubus OS provides a number of services for the thread management such as thread creation and termination getting and setting the thread s priority and 14 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without w
30. e ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 5 3 PAE ee E O E O E ETA 25 6 Pile SUDSYSte ti ishitreno einen tais int 26 6 1 SAFE File Syste E 26 6 2 IM EE 27 6 3 Filer OUAP lets ONG Gale aay ak Gale RN Ge Bey ee Be oo on 27 6 4 Volume Mumm ens ao enn ae ieee eae aaa eke 27 6 5 lie EE 27 Te Network SUDSYSte Il eegene 28 7 1 TCP IP Stack Architecture AAA 28 7 2 Application Layer Components nennen 29 7 2 1 EE een 29 7 2 2 DIS CMON ere EE re 29 3 BSD SOCK6tS API Ze sescscassarciionses ecard Atebe deeg a i ebe deeg sher 29 7 4 Network Initialization cece neeeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeeaaenneeeeeeeees 29 8 Shell Te E 31 8 1 High Level Initialization enea 31 8 2 COMMUNICAUON EE 31 8 3 Riva Eeer 32 Appendix A Java API Summary esessesssseseossssosscesesossossesocssescssossesossossesee 33 Appendix B ISAJ Summary sseesssossoesesocsoesesecssescssoesesocsoesesocssescssosssscssoesesee 35 Appendix C C API Functions Summary sesssssesesocsoesesocssescssoesesossoesesoe 40 5 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 M
31. e set of signals currently pending on the thread All signals of a thread are defined disabled at creation When the thread issues a signal wait call specifying the set of signals it is waiting for it is immediately put into a sleep state if none of specified signals is already pending for that thread Later another thread can issue a signal send 19 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 4 7 2 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 call for that thread thus waking it up and making ready for execution The signal wait call can also be a subject of timeout so the thread issuing this call will stay blocked until either it receives a signal or until the specified timeout interval expires The thread can also examine at any time if any signals are already pending for it and clear them if necessary Mutexes A Mutex is a short name for a Mutual Exclusion Semaphore It is mostly used to protect a shared resource which allows only an exclusive access at a time Before performing any manipulation on this resource a thread has to synchronize its access with other threads by locking the mutex After the thread has finished with the resource it has to release or unlock the mutex thus allowing other threads to access the resource A mute
32. ears indicators on a stream clock Determine processor time close Close file closedir Close a directory stream creat Create file ctime Transform date and time to ASCII difftime Calculates time difference div Compute quotient and remainder of an integer division exit Terminate program fclose Close a stream feof Test end of file indicator on a stream ferror Checks the stream error status fflush Flush a stream fgetc Get a byte from a stream fgetpos Get current file position information fgets Get a string from a stream fopen Opens a stream fprintf Print formatted data to a stream fputc Put a byte on a stream fputs Put a string on a stream fread Binary stream input free Free memory area freopen Open a stream fscanf Read formatted data from a stream fseek Reposition a stream fsetpos Set current file position ftell Return a file offset in a stream ftime Return date and time fwrite Binary output to a stream getc Get a byte from a stream getchar Get a byte from a stdin stream getcwd Get current working directory 44 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date
33. en during the sweep phase all unmarked objects are removed The sweep phase also packs the live objects together to avoid fragmentation of the heap It runs as a separate thread and will automatically execute when the heap becomes full It can also explicitly be run by a Java or C application The garbage collector can only be interrupted by C threads with higher priority by interrupt routines No Java threads are able to interrupt the garbage collector 11 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 System Software Overview The System Software consists of a number of tightly integrated components Each software component implements its own piece of functionality and can provide an interface to other components and to application programs They could be logically organized into the following groups o Hardware drivers handle the hardware related operations and provide an access to hardware resources such as DMA interrupts timers etc o Operating System supplies a real time multithreaded operating environment for the rest of the system including application programs o Communication drivers provide a well defined access to the facilities of different communication interfaces such
34. en the set of blocked threads is empty Otherwise the size of the set is equal to the absolute value of the semaphore value When a semaphore value is less than or equal to zero any thread that attempts to lock it again will block or be informed that it is not possible to perform the operation A semaphore is a simplified synchronization mechanism in respect to mutex It can be used in a context where the locking and unlocking may be controlled from different threads and no support to avoid priority inversion is required A semaphore is an object having the following attributes A Semaphore is a type of counting semaphore A Semaphore has no owner A Semaphore can be locked and unlocked Oo O O O A Semaphore does not use a priority inheritance protocol to avoid priority inversion A thread that wants to access a critical resource has to wait on the semaphore that guards the resource The semaphore wait operation can be blocking or not and the blocking operation can be the subject of timeout If a thread issues a semaphore wait call and the thread limit is not reached yet the semaphore count value is positive the thread will proceed immediately Otherwise it will get an error in the case of non blocking call or it will go into a wait state and will stay blocked until either one or more threads release the semaphore or until a specified timeout interval expires Monitors A Monitor supports two kind of thread synchronization mutual e
35. entifier through the global Object Access Table There are a number of general purpose object manipulation routines which are common for all object types They allow enumerating the object table by the object type finding an object by its name getting an object s name by its identifier creating destroying objects for event logging The detailed description of object manipulation routines can be found in the C API Reference Manual Processes and Threads A Process is an address space one or more threads of control that execute within that address space and other system resources allocated by these threads during the process life time A Thread is a single sequential flow of control within a process Threads can be created and terminated dynamically and their execution is managed by a kernel To each thread a run time stack area and an executable code is associated The entry to the code of the thread is specified when the thread is created Invoking the entry function starts the execution of a thread When the end statement of this entry function is reached the thread is implicitly terminated Each thread within the Rubus OS is represented by a thread object which as any other object has the common header and the type specific body Thread Control Block TCB The TCB contains the thread run time information such as thread s state and priority as well as pointers to the thread s stack and code At any point of time a thread can b
36. erface to its services in compliance with the POSIX 1003 1 Standard Objects The Rubus OS is not a pure object oriented operating system but all entities created within it such as threads events mutexes message queues are considered as objects That means that their internal structure is hidden and all manipulations on them can be done only through the well defined operating system interface Each object has a header which contains a set of common attributes like the name type of object status flags owner and the address of its control block The control block is the object s body It holds all data specific to each object type and necessary for the implementation of an object behavior For each type of object there is its own creation routine which allocates and properly initializes the object s header and body and makes the object ready for use Later objects are addressed by its Object Identifier an integer value generated by the operating system at a time of object creation After the object is not needed anymore it should be destroyed to release resources it used 13 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 4 3 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 All objects are accessible either by its name or by its object id
37. essage queue mq_getattr Retrieves status information and attributes of the message queue mq_open Open a message queue mq_receive Receive a message from a message queue mq_send Send a message to a message queue mq_timedreceive Receive a message from a message queue mq_timedsend Send a message to a message queue nanosleep High resolution sleep os_init Initialize the operating system os_logstart Start event log os_logstop Stop event log os_ start Start process scheduling os_stop Stop process scheduling os_userevent_put Puts an event os_userobject_destroy Destroy event log object os_userobject_init Create event log object pthread_attr_destroy Destroy thread attributes object pthread_attr_init Initialize thread attributes object pthread_attr_setschedparam Set schedparam attribute pthread_attr_setschedpolicy Set schedpolicy attribute pthread_attr_setstacksize Set stack attribute pthread_cancel Cancel thread pthread_create Create a new thread pthread_equal Get thread ID pthread_exit Terminate thread pthread_getschedparam Get scheduling parameters pthread_getspecific Get thread specific data pthread_getstatus Get thread status pthread_key_create Create thread specific data key pthread_key_delete Delete thread specific data key pthread_mutex_de
38. ght of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB
39. he Rubus OS provides an event logging facility During run time the operating system maintains the log of important system events such as interrupts thread switches operations on synchronization objects and so on Each log entry contains an event descriptor and a timestamp i e what happened when and in which order This mechanism is extensible so user can append its own event object into the logging system and put a log entry each time the event occurs See the C API Reference Manual for details The event logging can help to simplify and speed up the process of applications development and debugging performance analyzing and tuning searching for problems or bottlenecks The Event Log can be viewed and examined from the 23 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 4 10 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Imsys Developer IDE where it is displayed in the convenient graphical form See the Imsys Developer help for more information System Initialization and Startup Before the operating system can do its job it must be initialized and started The Rubus OS provides special routines for its initialization and startup The Initialization routine performs the following tasks o Initializes the High Resolution Timer block and
40. hread waiting on any of the mutexes owned by this thread That means when a thread tries to lock a mutex which is locked and the thread decide to wait for the unlocking the thread owning the mutex shall inherit the calling threads priority if it is higher than the owner s priority A thread may own several mutexes at the same time However this may lead to a deadlock If a thread owns mutex M1 and tries to lock mutex M2 owned by another thread which in turn tries to lock M1 this will cause a deadlock situation 20 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 4 7 3 4 7 4 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Semaphores A Semaphore is used to guard the shared resource by limiting the number of threads than can access it simultaneously When a semaphore is created an initial state of the semaphore has to be provided which specifies the number of threads that can concurrently access the resource it protects It can be used to provide mutual exclusion similar to mutex objects by specifying that only one thread should be allowed to access to the shared resource at any point in time A semaphore is defined as an object that has an integral value and a set of blocked thread associated with it If the value is positive or zero th
41. iSetBitRate Sets SPI bitrate spiSetPhase Sets SPI clock phase spiSetPolarity Sets SPI clock polarity spiSetSlaveSelect Sets SPI slave select line spiXmit Communicates over SPI 42 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Table 9 I2C Function Summary Functions Description i2clnit Initialize the 12C port pins to their idle state i2cPinSet Initialize the I2C port pins to their idle state i2cRead Read a block of data from the specified address i2cRead1 Read one byte of data from the specified address i2cWrite Write a block of data to the specified address i2cWrite1 Write one byte of data to the specified address i2cWriteRead First write to and then read from the same address Table 10 TCP IP Function Summary Functions Description accept Accepts an incoming connection on a listenning socket bind Assigns a local protocol address to a socket closesocket Closes a socket connect Initiates a connection on a socket getpeername Retrieves the name of the peer to which a socket is connected getsockname Retrieves the local name for a socket getsockopt Retrieves a socket option listen
42. ible to control the MDIO interface from java PortlO This class gives access to the general purpose UO ports on the processor RTC This class gives low level access to the RTC Native Bytecode Execution The Java enabled processors in the IM3000 microcontroller family has beside the standard C Assembler instruction set a second instruction set named ISAJ containing Java bytecodes This instruction set contains about 85 of the bytecodes in the standard Java bytecode instruction set These instructions are executed as machine instructions and are therefore very fast and efficiently executed See chapter Appendix B for a listing of ISAJ The Imsys JVM has no bytecode interpreter Instead all bytecodes in ISAJ are executed as native machine instructions and the other bytecodes are trapped by the hardware and emulated in assembler It is some of the most complex bytecodes like the different invoke bytecodes which are emulated The execution of some of the emulated bytecodes is enhanced by the use of quickcodes When an emulated bytecode is executed the first time the JVM saves some information about the execution environment in the actual program location and then replaces the emulated bytecode with a faster quickcode The next time the program reaches this location the faster quickcode will be executed The processor switches automatically between the different instructions sets 9 47 The ownership and copyright of this
43. icrocontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 About this document The IM3910 is a dedicated controller for networked applications in real time environments It combines the best features of traditional CISC architectures and the efficient use of hardware resources found in RISC processors The microcoded architecture is enabled with a Java Virtual Machine and hence provides the developer a bridge between high level application development and gate level execution performance The IM3910 integrated circuit comes with a complete software platform including real time operating system JVM flash file system TCP IP communication stack Telnet FTP and web server The application designer can mix and match between Java C and assembler languages to reach optimal performance This document describes the software platform for the IM3910 Microcontroller 6 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 1 1 1 2 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 The Imsys JVM Imsys Java virtual machine JVM is a small and efficient virtual machine for Java2 Micro Edition J2ME The implementation is a porting and adaptation of the KVM virtual machine from Sun Microsystems Many parts of the original KVM code has been
44. ifier A class verifier like the one used in JDK are not suitable for small resource constrained devices It would require too much memory space and use a lot of CPU power Therefore Sun has designed a class verifier for KVM that is significantly smaller than the JDK verifier This verifier requires all subroutines to be inlined no jsr or ret instructions are allowed and the class files should contain a StackMap attribute before then can be loaded This is accomplished by using a post javac tool named preverifier which inserts this attribute into normal class files The preverifier is delivered with Imsys Developer and can automatically be started by Imsys Developer after class compilation 10 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 1 7 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 The Garbage Collector and the Heap All Java objects created by the Java programs reside in the Java heap which is allocated in the RAM memory when the JVM is initiated The allocated size of the Java heap can be specified in a system initialization file The garbage collector uses a mark and sweep algorithm to remove dead unreferenced objects from the Java heap In the mark phase it marks all objects that are referenced to by the running Java threads and th
45. ime strlen Get string length strncat Concatenate a string with part of another strncmp Compare part of two strings strncpy Copy part of a string strpbrk Scan string for byte strrchr String scanning operation strspn Get length of a substring strstr Find a substring strtod Convert string to a double precision number strtok Scan string for token strtol Convert a string to a long strtoul Convert a string to a unsigned long strxfrm String transformation time Get time of day tmpnam Create a unique file name tolower Convert a character to lower case toupper Convert a character to upper case ungetc Push back a character to a stream unsetenv Remove an environment variable vfprintf Format output of a stdarg argument list vfscanf Format input of a stdarg list vprintf Formatted print to stdout vscanf Scan stdin for a specific format vsprintf Formatted print vsscanf Scan string for a specific format wcstombs Convert a wide character string to a multibyte string 46 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Functions Description wctomb Convert a wide character to a multibyte sequence write Write file 47 47 The ownership and copyri
46. ion timers and periodic events Scheduling Policy and Thread Switching The Rubus OS is a multithreaded operating system So it supports more than one thread of execution and divides the processor time between them It decides when and which thread to run based on the scheduling policy The scheduling semantics are defined in terms of Thread Lists There is one thread list for each priority Any thread in state READY must belong to one of them Each non empty list is ordered and contains a head and a tail The purpose of a scheduling policy is to define the allowable operations on this set of lists The basic scheduling principles are o The thread that is at the head of the highest priority non empty schedulable list shall be selected to become the RUNNING thread This thread is then removed from its thread list o Ata given time the thread with the highest priority is the one executing If a thread becomes READY and has higher priority than the running thread then the running thread is temporarily suspended so that the high priority thread may proceed Priority Scheduling Threads scheduled under the Priority Scheduling policy are chosen from a list that is ordered by the time its threads have been on the list first in first out o When the RUNNING thread becomes a preempted thread i e interrupted by another thread having a higher priority it becomes the head of the thread list for its priority in state READY o When a blocke
47. ip and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 4 7 4 7 1 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 RUNNING After returning from the dispatch service handler the execution is transferred to that thread and it continues from the point where it was stopped The Rubus OS provides system services that affect thread scheduling and switching When the thread is created it is possible to specify which scheduling policy to apply for that thread the time slice interval for asynchronously scheduled threads and the initial priority of the thread The priority can also be changed by the thread during its run time It is also possible to temporary lock or disable the preemption of the calling thread If the preemption is locked the scheduling of running thread is prohibited until either the calling thread is blocked or the preemption is unlocked The thread can also yield or relinquish the processor until it again becomes the head of its thread list See the C API Reference Manual for detailed description of these services Synchronization Mechanisms One of the primary functions of any synchronization mechanism is to prevent data corruption A principal cause of data corruption is a lack of synchronization between two or more concurrent threads of execution that manip
48. iting List is priority based the thread with the highest priority is inserted at the head of the list Error Handling One of the fundamental issues to be considered at designing a dependable real time system is to support elaborated error handling Error handling includes o Definition of failures o Detection of error o Services for error handling Error Detection Rubus OS is designed in such a way that failures are detected and the user shall be able to react on them in an adequate way 22 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 4 9 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Error Handling Rubus OS supports a mechanism for specifying user defined error handlers An error detected during run time is notified by calling one of installed handlers The error handling in Rubus OS is layered The layers are o Thread Layer A thread may or may not have an error handler assigned When a thread is running and an error is detected the assigned Thread Error Handler is invoked If no handler is assigned the process level is checked o Process Layer A process may or may not have an error handler assigned When an error is detected and the running thread has no assigned handler the Process Error handler is invoked If no error han
49. k devices The TCP IP network layer software includes an implementation of Internet Protocol IP as the major protocol for packet transmission and an implementation of Address Resolution Protocol ARP as the protocol for the remote host s hardware address discovery Note that architecturally ARP is implemented as the network layer module while it s functionally belongs rather to the link layer than to the network layer A Transport layer provides for applications a number of various transport services to exchange data over network It uses network layer interfaces to request an address routing and control information a packet transmission and so on The most common transports are a datagram transport which provides mechanisms for unreliable datagram exchange and a stream transport which provides reliable and sequential data transfer The TCP IP software implements User Datagram Protocol UDP as datagram transport and Transmission Control Protocol TCP as stream transport It also implements Internet Control Message Protocol ICMP and Internet Group Management Protocol IGMP as raw transport modules Any application can send and receive data in ICMP and IGMP format An additional transport module called raw wildcard transport allows applications to access packet transmission services of the IP module i e to send and receive raw IP datagrams An Application layer provides unified access to the transport layer features in
50. m Class Description CAN This class gives access to the CAN bus I2C This class implements an I2C bus master interface SPI This class implements a SPI bus master interface Table 2 Package se imsys net Class Description DNSClient Contains methods to resolve hosts FtpClient Implements an FTP client FtpServer Implements an FTP server HttpServer Implements a simple web server according to RFC_2616 HTTP 1 1 SmptClient This class enables the sending of E mails through a SMTP server TftpClient Implements a TFTP client Table 3 Package se imsys ppp Class Description PPP Contains methods to set up a PPP connection 8 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 1 3 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Table 4 Package se imsys system Class Description DatalO This class gives low level access to the processor s native I O bus EventLog Implements an operating system event object that can be used for application profiling FileSystem This class gives access to file system functions such as mounting SD MMC cards Ish This class gives access to some Imsys Shell resources MDIO This class makes it poss
51. msys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Table 7 COM Function Summary Functions Description comClose Closes port comConfig Change port settings comDataAvailable Test if data available comFlush Empty the port comGetBaudrate Get current baudrate comGetBit Get port signal comGetFlowControlMode Get flow control mode comGetInputBufferSize Get input buffer size comGetOutputBufferSize Get current output buffer size comGetReceiveFraming Get framing character comlnit Initializes the COM driver comOpen Opens a port comPortExists Tests if port exists comRead Read data comSendBreak Sends break comSetBaudrate Set baudrate comSetBit Set port signal comSetFlowControlMode Set flow control mode comSetInputBufferSize Set input buffer size comSetlrDAMode comSetOutputBufferSize Enable or disable IrDA mode Set output buffer size comSetReceiveFraming Enable or disable receive framing comWaitData comWrite Wait for data Write data Table 8 SPI Function Summary Functions Description spiGetBitRate Gets SPI bitrate spilnit Initializes SPI spiSetBitOrder Sets SPI data bit order sp
52. n state READY o The head of the thread list for the priority is removed and becomes the RUNNING thread Thread Switching The Scheduler only selects when and which thread to run according to its scheduling policy rules but the actual switching of threads is performed by the Dispatcher The dispatcher is implemented as the service event handler for a Dispatch Service event and has the lowest possible priority level 63 The scheduler requests the dispatch service in following situations o When it detects that the higher priority thread is ready for execution so the currently running thread should be preempted out o It detects that the currently running thread is the subject for an asynchronous scheduling and it has exhausted its time slice so it should release the processor for another thread o A call to the operating system that should block or yield the current thread execution is issued The dispatch service is requested by setting the corresponding bit in PSR register As soon as the execution priority level defined by PLR register becomes lower than the dispatch level the dispatch event will take place and its event handler the dispatcher will be invoked The dispatcher first saves the running thread context information registers and flags in the thread s stack Then it takes the highest priority thread from the ready thread list restores its context and changes the state of the thread to 18 47 The ownersh
53. ritten permission of Imsys Technologies AB 4 4 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 error code retrieving the thread status information See the C API Reference Manual for more information Interrupts and Services Interrupt Events and Service Events are events asynchronous to the normal execution flow of the thread Interrupt events are normally generated by the hardware while service events are requested by the software The Rubus OS supports asynchronous events by introducing the Event Handlers When an event occurs the processor temporarily suspends the current thread execution and branches to the corresponding event handler in order to service an event An event handler is not bound to a thread directly Instead it uses the interrupted thread stack while performing its operations The execution of events is priority based i e the highest priority event is selected for execution at a time The priority levels 0 64 are reserved for events Interrupt events utilize 32 higher priority levels 0 31 and service events uses 32 lower priority levels 32 63 The event handler for each level is stored within the Event Vector Table How events are executed is controlled by global and thread specific hardware registers o EIR Enable Interrupt Register global 32 bit register contains the bit mask of enabled interrupts o PIR Pending Interrupt Register
54. rupted and a higher priority event handler should be 15 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 4 5 4 5 1 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 executed It means that any event handler must enable interrupts as soon as possible to allow higher priority interrupts or services to be serviced The Rubus OS is installed as a Service Event Handler on the highest priority level 32 and calls to its interfaces are performed via a request for service So an Interrupt Event Handler shall not utilize Rubus OS services If an Interrupt Event Handler needs to use them it shall associate a service event for that purpose and perform necessary operations there For detailed information on how to install and remove event handlers configure periodic events and control interrupts see the C API Reference Manual System Clock and Timers Clocks and Timers The High SA Resolution The Periodic Timers Timer The Low Resolution Timers User Handler User Handler System Clock The Rubus OS supports one System Clock measuring relative time The System Clock is defined to be a clock representing the time for the system the system time The amount of time is measured in timer ticks The Periodic Timer implemented in hardw
55. so called Zero Config protocol to select an IP address from a well known address range and negotiate this selection with other nodes on the network DNS Client Any node on the TCP IP network is identified by its unique IP address But it is more convenient to use for identification a human readable name instead of an IP address The node name to the node address translation is performed by a DNS client In order to perform this translation the DNS client interacts with one or more DNS servers which store and maintain a distributed global name to address mapping database BSD Sockets API An application can access communication facilities of the network subsystem through the well known BSD Sockets application programming interface This interface is based on the concept of a socket a communication endpoint which is quite similar to the file descriptor See the C API Reference Manual for details Network Initialization Before communication facilities can be used the network subsystem must be initialized and configured Normally it is done during the initialization of the shell environment The shell startup code reads configuration files and initializes the TCP IP stack software When the target system does not require the shell to be running it can initialize and configure the network subsystem by using a network initialization routine It will do the following 29 47 The ownership and copyright of this document belongs to
56. stroy Destroy mutex pthread_mutex_init Initialize mutex pthread_mutex_lock Lock mutex pthread_mutex_timedlock Lock mutex pthread_mutex_trylock Lock mutex 40 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Functions Description pthread_mutex_unlock Unlock mutex pthread_mutexattr_destroy Destroy mutex attributes object pthread_mutexattr_init Initialize mutex attributes object pthread_self Get thread ID pthread_setschedparam Set scheduling parameters pthread_setspecific Set thread specific data pthread_yield Yield thread sem_destroy Destroy an unnamed semaphore sem_getvalue Get the value of a semaphore sem_init Initialize an unnamed semaphore sem_open Initialize and open a named semaphore sem_post Unlock a semaphore sem_timedwait Lock a semaphore sem_trywait Lock a semaphore sem_wait Lock a semaphore signal_clear Clear pending signals signal_send Send a signal to a thread signal_timedwait Wait for signals with timeout signal_wait Wait for signals 41 47 The ownership and copyright of this document belongs to I
57. tem error message printf Formatted print putc Write character to stream putchar Write character to stdout putenv Change or add an environment variable puts Writes a string to stdout qsort Sorts an array rand Get a pseudo random number read Read file readdir Read directory remove Remove file 45 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Functions Description rename Rename a file rewind Rewind a stream to the beginning rmdir Remove directory scanf Scan stdin according to a specific format setbuf Sets buffer of a buffered I O stream setenv Change or add an environment variable setimp Set return point for a longjump setvbuf Sets buffer of a buffered I O stream sprintf Print formatted output srand Set up the random generator sscanf Scan a string for arguments stat Get file status strcat Concatenate two strings strchr String scanning operation strcmp Compare two strings strcoll String compare using the current locale strcpy Copy a string strerror Returns string describing error code strftime Format date and t
58. ts neither expressed nor implied Imsys Technologies AB products have not been designed tested or manufactured for use in any application where failure malfunction or inaccuracy carries a risk of death bodily injury or damage to tangible property including but not limited to use in factory control systems medical devices or facilities nuclear facilities aircraft watercraft or automobile navigation or communication emergency systems or other applications with a similar degree of potential hazard 2 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Revision History Document STO DEV7028 AG Previous revision 1 2 Section Changes since last revision Updated version numbers in document to match profile version 3 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Table of Contents Mee Thelmsys d Nues 7 1 1 Running Java Applications c cceceeceeeeeeeeeaeeeeeeeeeeeeeeeeeeeeaaeeneeeeenes 7 1 2 Java AP E 7 1 2 1
59. ulate the same data structures Another function is to provide an ordering in execution of several threads doing the common job The Rubus OS provides a number of synchronization mechanisms with different behavior and semantic The synchronization mechanism in terms of Rubus OS is an object and a set of services to manipulate with that object Below is an overview of all supported mechanisms The detailed description of threads synchronization services can be found in the C API Reference Manual Signals Signals provide the ability to pause execution of the thread waiting for a selected set of events This allows applications to be written in an event driven style similar to a state machine A signal is said to be generated for or sent to a thread when the event that cause the signal first occurs A signal is said to be accepted by a thread when the signal is selected and returned by the signal wait function Each signal can be considered to have a lifetime beginning with generation and ending with acceptance During the time between the generation of the signal and its delivery or acceptance the signal is said to be pending A signal can be disabled from delivery to a thread If the receiving thread has disabled delivery of the signal the signal remains pending on the thread until the thread accept delivery Each thread has a signal mask that defines the set of signals currently disabled from delivery to it and a signal mask that defines th
60. ulated 15 iload Native 16 lload Native 17 fload Native 18 dload Native 19 aload Native la iload_0O Native 1b iload_1 Native 1c iload_2 Native 1d iload_3 Native le lload_0O Native 1f lload_1 Native 20 lload_2 Native 21 lload_3 Native 22 fload_0 Native 23 fload_1 Native 24 fload_2 Native 35 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Hex bytecode Implementation 25 fload_3 Native 26 dload_0 Native 27 dload_1 Native 28 dload_2 Native 29 dload_3 Native 2a aload_0 Native 2b aload_1 Native 2c aload_2 Native 2d aload_3 Native 2e iaload Native 2f laload Native 30 faload Native 31 daload Native 32 aaload Native 33 baload Native 34 caload Native 35 saload Native 36 istore Native 37 Istore Native 38 fstore Native 39 dstore Native 3a astore Native 3b istore_0 Native 3c istore_1 Native 3d istore_2 Native 3e istore_3 Native 3f Istore_0 Native 40 Istore_1 Native 41 Istore_2 Native 42 Istore_3 Native 43 fstore_0 Native 44 fstore_1 Native 45 fstore_2 Native 46 fstore_3 Native 47 dstore_0 Native 48 dstore_1 Native 49 dstore_2 Native 4a dstore_
61. viding a UNIX like command interface High Level Initialization The shell startup code completes initialization and configuration of the system performing the following tasks Initializes the serial port interface Registers stdout and stderr functions Reads the Hardware Identification String from the flash memory Reads and processes a shell configuration file ish ini Reads and processes a system configuration file system ini Initializes and starts a Serial server Configures a hostname Initializes and configures TCP IP stack software Starts FTP and Telnet servers Sets the Time Zone and Daylight Saving O O O O O O O O O 0 0 Reads and executes startup file startup ini See the ISH User Manual for more information about configuration files and their parameters Communication Servers The shell includes Serial server Telnet server and FTP server The shell starts them automatically during startup if specified in the system configuration file Otherwise they can be started and stopped manually using startserver and stopserver commands The Serial server provides the command line user interface over a serial channel The serial port number and port parameters can be specified though environment variables The Telnet server provides the command line user interface over a TCP IP communication channel The TCP port number and the server priority can be specified though the environment variable The FTP server provides a remote
62. x is an object having the following attributes A Mutex is a type of binary semaphore A Mutex has an owner The owner is the thread performing the lock operation A Mutex can be locked and unlocked Only the owner can perform unlocking Oo O O oO A Mutex uses a priority inheritance protocol to avoid priority inversion A thread becomes the owner of a mutex when control returns successfully from a lock operation with the mutex identifier as the argument A thread remains the owner until the unlock operation returns successfully The mutex lock operation can either be blocking or not and the blocking operation can be the subject of timeout So if a thread tries to lock the mutex which is owned by other thread it will either immediately get an error in the case of non blocking call or it will be placed into a wait state The thread will stay blocked until the mutex becomes unlocked or until the specified timeout interval expires Priority inversion occurs when a higher priority thread is forced to wait for the completion of a lower priority thread Such a situation is in conflict to a strict priority based scheduling To avoid that a lower priority thread blocks a higher priority thread the mutex supports a priority inversion algorithm as the Priority Inheritance Protocol The Priority Inheritance Protocol assures that the thread owning a resource will execute at the higher of either its priority or the priority of the highest priority t
63. xclusion and cooperation Mutual exclusion enables multiple threads to independently work on shared data without interfering with each other Cooperation enables threads to work together towards a common goal A Monitor is an object having the following attributes A Monitor is a type of binary semaphore A Monitor has an owner The owner is the thread performing the lock operation A Monitor can be locked and unlocked Only the owner can perform unlocking In its mutual exclusion a monitor is almost identical to a mutex but with no priority inheritance 21 47 The ownership and copyright of this document belongs to Imsys Technologies AB It must not be disclosed copied altered or used without written permission of Imsys Technologies AB 4 7 5 4 8 Datasheet IM3910 Microcontroller Document no STO DEV7028 AG Date 2008 08 13 Revision 1 3 Another form of monitor is called wait and notify monitor A thread that currently owns the monitor can suspend itself inside the monitor by issuing a monitor wait call When a thread executes a wait it releases the monitor and enters the wait state The thread will stay blocked until another thread issues a monitor notify call When a thread executes a notify operation it continues to own the monitor until it releases the monitor explicitly either by executing a monitor wait or by unlocking it After the notifying thread has released the monitor waiting threads become ready an

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