Renesas Network Card M3T MR100 User Guide

REJ10J1523-0100

M3T-MR100/4 V.1.00

User’s Manual

Real-time OS for R32C/100 Series

Rev.1.00

September 16, 2007

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Preface

The M3T-MR100/4(abbreviated as MR100) is a real-time operating system¹for the R32C/100 series microcomputers. The

MR100 conforms to the μITRON Specification.²

This manual describes the procedures and precautions to observe when you use the MR100 for programming purposes. For

the detailed information on individual service call procedures, refer to the MR100 Reference Manual.

Requirements for MR100 Use

When creating programs based on the MR100, it is necessary to purchase the following product of Renesas.

• C-compiler package for R32C/100 series microcomputers (abbreviated as NC100)

Document List

The following sets of documents are supplied with the MR100.

• Release Note

Presents a software overview and describes the corrections to the Users Manual and Reference Manual.

• Users Manual (PDF file)

Describes the procedures and precautions to observe when using the MR100 for programming purposes.

Right of Software Use

The right of software use conforms to the software license agreement. You can use the MR100 for your product develop-

ment purposes only, and are not allowed to use it for the other purposes. You should also note that this manual does not

guarantee or permit the exercise of the right of software use.

Hereinafter abbreviated "real-time OS"

μITRON4.0 Specification is the open real-time kernel specification upon which the TRON association decided

The specification document of μITRON4.0 specification can come to hand from a TRON association homepage

(http://www.assoc.tron.org/).

The copyright of μITRON4.0 specification belongs to the TRON association.

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Contents

Requirements for MR100 Use......................................................................................................................................i

Document List...............................................................................................................................................................i

Right of Software Use...................................................................................................................................................i

Contents.............................................................................................................................................................iii

List of Figures .................................................................................................................................................viii

List of Tables ..................................................................................................................................................... xi

1. User’s Manual Organization...................................................................................................................- 1 -

2. General Information ...............................................................................................................................- 3 -

2.1

2.2

2.3

Objective of MR100 Development...................................................................................................... - 3 -

Relationship between TRON Specification and MR100................................................................... - 5 -

MR100 Features ................................................................................................................................. - 6 -

3. Introduction to Kernel ............................................................................................................................- 7 -

3.1 Concept of Real-time OS .................................................................................................................... - 7 -

3.1.1

3.1.2

Why Real-time OS is Necessary.................................................................................................- 7 -

Operating Principles of Kernel................................................................................................. - 10 -

Service Call ....................................................................................................................................... - 14 -

3.2

3.2.1

3.2.2

Service Call Processing ............................................................................................................. - 15 -

Processing Procedures for Service Calls from Handlers......................................................... - 16 -

Service Calls from a Handler That Caused an Interrupt during Task Execution............................................. - 17 -

Service Calls from a Handler That Caused an Interrupt during Service Call Processing................................ - 18 -

Service Calls from a Handler That Caused an Interrupt during Handler Execution....................................... - 19 -

Object................................................................................................................................................. - 20 -

3.3

3.4

3.3.1

The specification method of the object in a service call .......................................................... - 20 -

Task ................................................................................................................................................... - 21 -

3.4.1

3.4.2

3.4.3

3.4.4

Task Status ................................................................................................................................ - 21 -

Task Priority and Ready Queue ...............................................................................................- 25 -

Task Priority and Waiting Queue.............................................................................................- 26 -

Task Control Block(TCB) .......................................................................................................... - 27 -

3.5

3.5.1

3.5.2

3.5.3

3.5.4

System States.................................................................................................................................... - 28 -

Task Context and Non-task Context........................................................................................- 28 -

Dispatch Enabled/Disabled States........................................................................................... - 30 -

CPU Locked/Unlocked States...................................................................................................- 30 -

Dispatch Disabled and CPU Locked States.............................................................................- 30 -

3.6

3.6.1

3.6.2

3.6.3

3.7

3.7.1

Regarding Interrupts........................................................................................................................ - 31 -

Types of Interrupt Handlers..................................................................................................... - 31 -

The Use of Non-maskable Interrupt ........................................................................................ - 31 -

Controlling Interrupts............................................................................................................... - 32 -

Stacks ................................................................................................................................................ - 34 -

System Stack and User Stack...................................................................................................- 34 -

4. Kernel ....................................................................................................................................................- 35 -

4.1.1

4.1.2

4.1.3

4.1.4

4.1.5

4.1.6

4.1.7

Module Structure....................................................................................................................... - 35 -

Module Overview....................................................................................................................... - 36 -

Task Management Function..................................................................................................... - 37 -

Synchronization functions attached to task ............................................................................- 39 -

Synchronization and Communication Function (Semaphore)................................................ - 43 -

Synchronization and Communication Function (Eventflag) .................................................. - 45 -

Synchronization and Communication Function (Data Queue) .............................................. - 47 -

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4.1.8

4.1.9

Synchronization and Communication Function (Mailbox)..................................................... - 48 -

Memory pool Management Function(Fixed-size Memory pool) ............................................. - 50 -

4.1.10 Variable-size Memory Pool Management Function ................................................................ - 51 -

4.1.11 Time Management Function..................................................................................................... - 54 -

4.1.12 Cyclic Handler Function ........................................................................................................... - 56 -

4.1.13 Alarm Handler Function........................................................................................................... - 57 -

4.1.14 System Status Management Function..................................................................................... - 58 -

4.1.15 Interrupt Management Function ............................................................................................. - 59 -

4.1.16 System Configuration Management Function ........................................................................ - 60 -

4.1.17 Extended Function (Short Data Queue) .................................................................................. - 60 -

4.1.18 Extended Function (Reset Function) ....................................................................................... - 61 -

5. Service call reffernce.............................................................................................................................- 63 -

5.1

act_tsk

Task Management Function ............................................................................................................ - 63 -

Activate task .......................................................................................................................... - 65 -

iact_tsk Activate task (handler only).................................................................................................. - 65 -

can_act Cancel task activation request.............................................................................................. - 67 -

ican_act Cancel task activation request (handler only)..................................................................... - 67 -

sta_tsk

Activate task with a start code .............................................................................................- 69 -

ista_tsk Activate task with a start code (handler only)..................................................................... - 69 -

ext_tsk

ter_tsk

chg_pri

Terminate invoking task .......................................................................................................- 71 -

Terminate task....................................................................................................................... - 73 -

Change task priority.............................................................................................................. - 75 -

ichg_pri Change task priority(handler only) ...................................................................................... - 75 -

get_pri Reference task priority.......................................................................................................... - 77 -

iget_pri Reference task priority(handler only) .................................................................................. - 77 -

ref_tsk Reference task status ............................................................................................................ - 79 -

iref_tsk Reference task status (handler only).................................................................................... - 79 -

ref_tst

iref_tst

Reference task status (simplified version) ........................................................................... - 82 -

Reference task status (simplified version, handler only).................................................... - 82 -

5.2

slp_tsk

Task Dependent Synchronization Function....................................................................................- 84 -

Put task to sleep..................................................................................................................... - 85 -

tslp_tsk Put task to sleep (with timeout)............................................................................................ - 85 -

wup_tsk Wakeup task........................................................................................................................... - 88 -

iwup_tsk

can_wup

ican_wup

rel_wai

Wakeup task (handler only)............................................................................................... - 88 -

Cancel wakeup request......................................................................................................- 90 -

Cancel wakeup request (handler only) ............................................................................. - 90 -

Release task from waiting.....................................................................................................- 92 -

irel_wai Release task from waiting (handler only) ............................................................................ - 92 -

sus_tsk Suspend task.......................................................................................................................... - 94 -

isus_tsk Suspend task (handler only) .................................................................................................- 94 -

rsm_tsk Resume suspended task ........................................................................................................- 96 -

irsm_tsk

frsm_tsk

ifrsm_tsk

dly_tsk

Resume suspended task(handler only)............................................................................. - 96 -

Forcibly resume suspended task....................................................................................... - 96 -

Forcibly resume suspended task(handler only) ............................................................... - 96 -

Delay task............................................................................................................................... - 98 -

5.3

Synchronization & Communication Function (Semaphore) ........................................................ - 100 -

sig_sem Release semaphore resource ............................................................................................... - 101 -

isig_sem

wai_sem

Release semaphore resource (handler only)................................................................... - 101 -

Acquire semaphore resource............................................................................................- 103 -

pol_sem Acquire semaphore resource (polling) ................................................................................ - 103 -

ipol_sem

twai_sem

Acquire semaphore resource (polling, handler only) .....................................................- 103 -

Acquire semaphore resource(with timeout).................................................................... - 103 -

ref_sem Reference semaphore status ...............................................................................................- 106 -

iref_sem Reference semaphore status (handler only).......................................................................- 106 -

5.4

set_flg

iset_flg

Synchronization & Communication Function (Eventflag)........................................................... - 108 -

Set eventflag......................................................................................................................... - 109 -

Set eventflag (handler only)................................................................................................- 109 -

clr_flg Clear eventflag..........................................................................................................................- 111 -

iclr_flg

Clear eventflag (handler only) .............................................................................................- 111 -

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wai_flg

pol_flg

ipol_flg

Wait for eventflag................................................................................................................. - 113 -

Wait for eventflag(polling)................................................................................................... - 113 -

Wait for eventflag(polling, handler only)............................................................................ - 113 -

twai_flg Wait for eventflag(with timeout)......................................................................................... - 113 -

ref_flg

iref_flg

Reference eventflag status .................................................................................................. - 116 -

Reference eventflag status (handler only).......................................................................... - 116 -

5.5

snd_dtq Send to data queue .............................................................................................................. - 119 -

psnd_dtq Send to data queue (polling)............................................................................................ - 119 -

ipsnd_dtq Send to data queue (polling, handler only)..................................................................... - 119 -

Synchronization & Communication Function (Data Queue)....................................................... - 118 -

tsnd_dtq

fsnd_dtq

ifsnd_dtq

rcv_dtq

prcv_dtq

iprcv_dtq

Send to data queue (with timeout).................................................................................. - 119 -

Forced send to data queue............................................................................................... - 119 -

Forced send to data queue (handler only) ...................................................................... - 119 -

Receive from data queue .....................................................................................................- 122 -

Receive from data queue (polling)...................................................................................- 122 -

Receive from data queue (polling, handler only)............................................................- 122 -

trcv_dtq Receive from data queue (with timeout) ............................................................................ - 122 -

ref_dtq Reference data queue status...............................................................................................- 125 -

iref_dtq Reference data queue status (handler only) ......................................................................- 125 -

5.6 Synchronization & Communication Function (Mailbox).............................................................. - 127 -

snd_mbx

isnd_mbx

Send to mailbox................................................................................................................- 1 28 -

Send to mailbox (handler only) .......................................................................................- 128 -

rcv_mbx Receive from mailbox...........................................................................................................- 130 -

prcv_mbx Receive from mailbox (polling) ........................................................................................- 130 -

iprcv_mbx Receive from mailbox (polling, handler only)................................................................. - 130 -

trcv_mbx Receive from mailbox (with timeout)..............................................................................- 130 -

ref_mbx Reference mailbox status ....................................................................................................- 133 -

iref_mbx Reference mailbox status (handler only) ........................................................................ - 133 -

5.7 Memory Pool Management Function (Fixed-size Memory Pool)................................................. - 135 -

get_mpf Aquire fixed-size memory block..........................................................................................- 136 -

pget_mpf Aquire fixed-size memory block (polling)........................................................................- 136 -

ipget_mpf Aquire fixed-size memory block (polling, handler only) ................................................ - 136 -

tget_mpf Aquire fixed-size memory block (with timeout) .............................................................- 136 -

rel_mpf Release fixed-size memory block.........................................................................................- 139 -

irel_mpf Release fixed-size memory block (handler only)................................................................- 139 -

ref_mpf Reference fixed-size memory pool status ...........................................................................- 141 -

iref_mpf Reference fixed-size memory pool status (handler only)................................................... - 141 -

5.8

Memory Pool Management Function (Variable-size Memory Pool) ............................................ - 143 -

pget_mpl

Aquire variable-size memory block (polling)..................................................................- 144 -

rel_mpl Release variable-size memory block................................................................................... - 146 -

ref_mpl Reference variable-size memory pool status......................................................................- 148 -

iref_mpl Reference variable-size memory pool status (handler only) ............................................. - 148 -

5.9

Time Management Function.......................................................................................................... - 150 -

set_tim

Set system time.................................................................................................................... - 151 -

iset_tim Set system time (handler only) ...........................................................................................- 151 -

get_tim Reference system time.........................................................................................................- 153 -

iget_tim Reference system time (handler only) ................................................................................ - 153 -

isig_tim Supply a time tick................................................................................................................ - 155 -

5.10 Time Management Function (Cyclic Handler).............................................................................. - 156 -

sta_cyc

ista_cyc Start cyclic handler operation (handler only) .................................................................... - 157 -

stp_cyc Stops cyclic handler operation ............................................................................................- 159 -

istp_cyc Stops cyclic handler operation (handler only)....................................................................- 159 -

ref_cyc Reference cyclic handler status...........................................................................................- 160 -

Start cyclic handler operation.............................................................................................- 157 -

iref_cyc Reference cyclic handler status (handler only)..................................................................- 160 -

5.11 Time Management Function (Alarm Handler)............................................................................. - 162 -

sta_alm Start alarm handler operation............................................................................................- 163 -

ista_alm

Start alarm handler operation (handler only)................................................................- 163 -

stp_alm Stop alarm handler operation.............................................................................................- 165 -

istp_alm

Stop alarm handler operation (handler only)................................................................. - 165 -

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ref_alm Reference alarm handler status..........................................................................................- 166 -

iref_alm Reference alarm handler status (handler only).................................................................- 166 -

5.12 System Status Management Function..........................................................................................- 168 -

rot_rdq

irot_rdq Rotate task precedence (handler only) ............................................................................... - 169 -

get_tid Reference task ID in the RUNNING state.........................................................................- 171 -

iget_tid Reference task ID in the RUNNING state (handler only)................................................- 171 -

loc_cpu Lock the CPU ....................................................................................................................... - 172 -

Rotate task precedence........................................................................................................- 169 -

iloc_cpu Lock the CPU (handler only)...............................................................................................- 172 -

unl_cpu Unlock the CPU ................................................................................................................... - 174 -

iunl_cpu

dis_dsp

Unlock the CPU (handler only).......................................................................................- 174 -

Disable dispatching ............................................................................................................. - 175 -

ena_dsp Enables dispatching............................................................................................................. - 177 -

sns_ctx

sns_loc

Reference context................................................................................................................. - 178 -

Reference CPU state............................................................................................................- 1 79 -

sns_dsp Reference dispatching state ................................................................................................- 180 -

sns_dpn Reference dispatching pending state..................................................................................- 181 -

5.13 Interrupt Management Function................................................................................................... - 182 -

ret_int

5.14 System Configuration Management Function..............................................................................- 184 -

ref_ver Reference version information............................................................................................- 185 -

Returns from an interrupt handler (when written in assembly language).................. - 183 -

iref_ver Reference version information (handler only) ...................................................................- 185 -

5.15 Extended Function (Short Data Queue)........................................................................................- 187 -

vsnd_dtq

Send to Short data queue ................................................................................................- 188 -

vpsnd_dtq Send to Short data queue (polling)..................................................................................- 188 -

vipsnd_dtq Send to Short data queue (polling, handler only)..........................................................- 188 -

vtsnd_dtq Send to Short data queue (with timeout) .......................................................................- 188 -

vfsnd_dtq Forced send to Short data queue.....................................................................................- 188 -

vifsnd_dtq Forced send to Short data queue (handler only)............................................................ - 188 -

vrcv_dtq

Receive from Short data queue .......................................................................................- 191 -

vprcv_dtq Receive from Short data queue (polling).........................................................................- 191 -

viprcv_dtq Receive from Short data queue (polling,handler only) .................................................. - 191 -

vtrcv_dtq

vref_dtq Reference Short data queue status.....................................................................................- 194 -

viref_dtq Reference Short data queue status (handler only)......................................................... - 194 -

Receive from Short data queue (with timeout) ..............................................................- 191 -

5.16 Extended Function (Reset Function).............................................................................................- 196 -

vrst_dtq Clear data queue area .........................................................................................................- 197 -

vrst_vdtq

vrst_mbx

vrst_mpf

vrst_mpl

Clear Short data queue area ...........................................................................................- 199 -

Clear mailbox area...........................................................................................................- 201 -

Clear fixed-size memory pool area..................................................................................- 203 -

Clear variable-size memory pool area............................................................................. - 204 -

6. Applications Development Procedure Overview................................................................................- 205 -

6.1

6.2

Overview.......................................................................................................................................... - 205 -

Development Procedure Example.................................................................................................. - 207 -

6.2.1

6.2.2

6.2.3

6.2.4

6.2.5

Applications Program Coding.................................................................................................- 207 -

Configuration File Preparation ..............................................................................................- 208 -

Configurator Execution........................................................................................................... - 209 -

System generation................................................................................................................... - 209 -

Writing ROM............................................................................................................................ - 210 -

7. Detailed Applications.......................................................................................................................... - 211 -

7.1 Program Coding Procedure in C Language................................................................................... - 211 -

7.1.1

7.1.2

Task Description Procedure.................................................................................................... - 211 -

Writing a Kernel (OS Dependent) Interrupt Handler .......................................................... - 212 -

Writing Non-kernel Interrupt Handler..................................................................................- 213 -

Writing Cyclic Handler/Alarm Handler.................................................................................- 213 -

7.1.3

7.1.4

7.2

7.2.1

7.2.2

Program Coding Procedure in Assembly Language .....................................................................- 215 -

Writing Task ............................................................................................................................ - 215 -

Writing Kernel Interrupt Handler .........................................................................................- 216 -

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7.2.3

7.2.4

Writing Non-kernel Interrupt Handler..................................................................................- 216 -

Writing Cyclic Handler/Alarm Handler.................................................................................- 216 -

7.3

7.3.1

Modifying MR100 Startup Program..............................................................................................- 218 -

C Language Startup Program (crt0mr.a30)...........................................................................- 219 -

7.4

Memory Allocation.......................................................................................................................... - 224 -

7.4.1

8. Using Configurator ................................................................................................................................. 227

8.1 Configuration File Creation Procedure..............................................................................................227

8.1.1

Section used by the MR100.....................................................................................................- 225 -

Configuration File Data Entry Format.......................................................................................227

Operator ...................................................................................................................................................................228

Direction of computation .........................................................................................................................................228

8.1.2

Configuration File Definition Items............................................................................................229

[( System Definition Procedure )]............................................................................................................................229

[( System Clock Definition Procedure )]..................................................................................................................231

[( Definition respective maximum numbers of items )]..........................................................................................232

[( Task definition )]...................................................................................................................................................234

[( Eventflag definition )] ..........................................................................................................................................236

[( Semaphore definition )]........................................................................................................................................237

[(Data queue definition )] ........................................................................................................................................238

[( Short data queue definition )]..............................................................................................................................239

[( Mailbox definition )] .............................................................................................................................................240

[( Fixed-size memory pool definition )]....................................................................................................................241

[( Variable-size memory pool definition )]...............................................................................................................242

[( Cyclic handler definition )]...................................................................................................................................244

[( Alarm handler definition )] ..................................................................................................................................245

[( Interrupt vector definition )]................................................................................................................................246

[( Fixed interrupt vector definition )]......................................................................................................................247

8.1.3

8.2

8.2.1

Configuration File Example.........................................................................................................250

Configurator Execution Procedures ...................................................................................................254

Configurator Overview.................................................................................................................254

Executing the configurator requires the following input files:..............................................................................254

When the configurator is executed, the files listed below are output. ..................................................................254

8.2.2

8.2.3

8.2.4

Setting Configurator Environment .............................................................................................255

Configurator Start Procedure......................................................................................................256

Precautions on Executing Configurator......................................................................................256

Configurator Error Indications and Remedies...........................................................................257

8.2.5

Error messages ........................................................................................................................................................257

Warning messages ...................................................................................................................................................259

9. Sample Program Description.................................................................................................................. 260

9.1

9.2

9.3

Overview of Sample Program .............................................................................................................260

Program Source Listing.......................................................................................................................261

Configuration File................................................................................................................................262

10.

Stack Size Calculation Method ........................................................................................................... 264

10.1 Stack Size Calculation Method...........................................................................................................264

10.1.1 User Stack Calculation Method...................................................................................................266

10.1.2 System Stack Calculation Method ..............................................................................................268

10.2 Necessary Stack Size...........................................................................................................................272

11.

Note..................................................................................................................................................- 275 -

11.1 The Use of INT Instruction............................................................................................................ - 275 -

11.2 The Use of registers of bank .......................................................................................................... - 275 -

11.3 Regarding Delay Dispatching........................................................................................................ - 276 -

11.4 Regarding Initially Activated Task................................................................................................ - 277 -

12.

Appendix..........................................................................................................................................- 279 -

12.1 Data Type ........................................................................................................................................ - 279 -

12.2 Common Constants and Packet Format of Structure ..................................................................- 280 -

12.3 Assembly Language Interface........................................................................................................ - 282 -

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List of Figures

Figure 3.1 Relationship between Program Size and Development Period.....................................- 7 -

Figure 3.2 Microcomputer-based System Example(Audio Equipment) .........................................- 8 -

Figure 3.3 Example System Configuration with Real-time OS(Audio Equipment) ......................- 9 -

Figure 3.4 Time-division Task Operation.......................................................................................- 10 -

Figure 3.5 Task Execution Interruption and Resumption ............................................................- 11 -

Figure 3.6 Task Switching...............................................................................................................- 11 -

Figure 3.7 Task Register Area.........................................................................................................- 12 -

Figure 3.8 Actual Register and Stack Area Management .............................................................- 13 -

Figure 3.9 Service call......................................................................................................................- 14 -

Figure 3.10 Service Call Processing Flowchart..............................................................................- 15 -

Figure 3.11 Processing Procedure for a Service Call a Handler that caused an interrupt during Task

Execution - 17 -

Figure 3.12 Processing Procedure for a Service Call from a Handler that caused an interrupt during

Service Call Processing.............................................................................................................- 18 -

Figure 3.13 Processing Procedure for a service call from a Multiplex interrupt Handler..........- 19 -

Figure 3.14 Task Identification.......................................................................................................- 20 -

Figure 3.15 Task Status...................................................................................................................- 21 -

Figure 3.16 MR100 Task Status Transition ...................................................................................- 22 -

Figure 3.17 Ready Queue (Execution Queue) ................................................................................- 25 -

Figure 3.18 Waiting queue of the TA_TPRI attribute ...................................................................- 26 -

Figure 3.19 Waiting queue of the TA_TFIFO attribute.................................................................- 26 -

Figure 3.20 Task control block ........................................................................................................- 27 -

Figure 3.21 Cyclic Handler/Alarm Handler Activation .................................................................- 29 -

Figure 3.22 Interrupt handler IPLs................................................................................................- 31 -

Figure 3.23 Interrupt control in a Service Call that can be Issued from only a Task .................- 32 -

Figure 3.24 Interrupt control in a Service Call that can be Issued from a Task-independent ...- 33 -

Figure 3.25 System Stack and User Stack.....................................................................................- 34 -

Figure 4.1 MR100 Structure............................................................................................................- 35 -

Figure 4.2 Task Resetting................................................................................................................- 37 -

Figure 4.3 Alteration of task priority..............................................................................................- 38 -

Figure 4.4 Task rearrangement in a waiting queue ......................................................................- 38 -

Figure 4.5 Wakeup Request Storage...............................................................................................- 39 -

Figure 4.6 Wakeup Request Cancellation.......................................................................................- 39 -

Figure 4.7 Forcible wait of a task and resume...............................................................................- 40 -

Figure 4.8 Forcible wait of a task and forcible resume..................................................................- 41 -

Figure 4.9 dly_tsk service call.........................................................................................................- 42 -

Figure 4.10 Exclusive Control by Semaphore ................................................................................- 43 -

Figure 4.11 Semaphore Counter .....................................................................................................- 43 -

Figure 4.12 Task Execution Control by Semaphore.......................................................................- 44 -

Figure 4.13 Task Execution Control by the Eventflag...................................................................- 46 -

Figure 4.14 Data queue ...................................................................................................................- 47 -

Figure 4.15 Mailbox .........................................................................................................................- 48 -

Figure 4.16 Message queue .............................................................................................................- 49 -

Figure 4.17 Memory Pool Management..........................................................................................- 50 -

Figure 4.18 pget_mpl processing.....................................................................................................- 52 -

Figure 4.19 rel_mpl processing .......................................................................................................- 53 -

Figure 4.20 Timeout Processing......................................................................................................- 54 -

Figure 4.21 Cyclic handler operation in cases where the activation phase is saved...................- 56 -

Figure 4.22 Cyclic handler operation in cases where the activation phase is not saved.............- 56 -

Figure 4.23 Typical operation of the alarm handler ......................................................................- 57 -

Figure 4.24 Ready Queue Management by rot_rdq Service Call..................................................- 58 -

Figure 4.25 Interrupt process flow..................................................................................................- 59 -

Figure 6.1 MR100 System Generation Detail Flowchart............................................................- 206 -

Figure 6.2 Program Example ........................................................................................................- 208 -

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Figure 6.3 Configuration File Example........................................................................................- 209 -

Figure 6.4 Configurator Execution ...............................................................................................- 209 -

Figure 6.5 System Generation.......................................................................................................- 210 -

Figure 7.1 Example Infinite Loop Task Described in C Language.............................................- 211 -

Figure 7.2 Example Task Terminating with ext_tsk() Described in C Language......................- 212 -

Figure 7.3 Example of Kernel Interrupt Handler........................................................................- 213 -

Figure 7.4 Example of Non-kernel Interrupt Handler ................................................................- 213 -

Figure 7.5 Example Cyclic Handler Written in C Language ......................................................- 214 -

Figure 7.6 Example Infinite Loop Task Described in Assembly Language................................- 215 -

Figure 7.7 Example Task Terminating with ext_tsk Described in Assembly Language...........- 215 -

Figure 7.8 Example of kernel(OS-depend) interrupt handler.....................................................- 216 -

Figure 7.9 Example of Non-kernel Interrupt Handler of Specific Level ....................................- 216 -

Figure 7.10 Example Handler Written in Assembly Language ..................................................- 217 -

Figure 7.11 C Language Startup Program (crt0mr.a30) .............................................................- 222 -

Figure 8.1 The operation of the Configurator .................................................................................. 255

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List of Tables

Table 3.1 Task Context and Non-task Context ..............................................................................- 28 -

Table 3.2 Invocable Service Calls in a CPU Locked State.............................................................- 30 -

Table 3.3 CPU Locked and Dispatch Disabled State Transitions Relating to dis_dsp and loc_cpu- 30 -

Table 5.1 Specifications of the Task Management Function.........................................................- 63 -

Table 5.2 List of Task Management Function Service Call...........................................................- 63 -

Table 5.3 Specifications of the Task Dependent Synchronization Function ................................- 84 -

Table 5.4 List of Task Dependent Synchronization Service Call ..................................................- 84 -

Table 5.5 Specifications of the Semaphore Function ...................................................................- 100 -

Table 5.6 List of Semaphore Function Service Call.....................................................................- 100 -

Table 5.7 Specifications of the Eventflag Function......................................................................- 108 -

Table 5.8 List of Eventflag Function Service Call.....................................................................- 108 -

Table 5.9 Specifications of the Data Queue Function..................................................................- 118 -

Table 5.10 List of Dataqueue Function Service Call....................................................................- 118 -

Table 5.11 Specifications of the Mailbox Function.......................................................................- 127 -

Table 5.12 List of Mailbox Function Service Call ........................................................................- 127 -

Table 5.13 Specifications of the Fixed-size memory pool Function.............................................- 135 -

Table 5.14 List of Fixed-size memory pool Function Service Call ..............................................- 135 -

Table 5.15 Specifications of the Variable-size memory Pool Function........................................- 143 -

Table 5.16 List of Variable -size memory pool Function Service Call.........................................- 143 -

Table 5.17 Specifications of the Time Management Function ....................................................- 150 -

Table 5.18 List of Time Management Function Service Call ......................................................- 150 -

Table 5.19 Specifications of the Cyclic Handler Function.........................................................- 156 -

Table 5.20 List of Cyclic Handler Function Service Call.............................................................- 156 -

Table 5.21 Specifications of the Alarm Handler Function...........................................................- 162 -

Table 5.22 List of Alarm Handler Function Service Call.............................................................- 162 -

Table 5.23 List of System Status Management Function Service Call ......................................- 168 -

Table 5.24 List of Interrupt Management Function Service Call...............................................- 182 -

Table 5.25 List of System Configuration Management Function Service Call..........................- 184 -

Table 5.26 Specifications of the Short Data Queue Function......................................................- 187 -

Table 5.27 List of Long Dataqueue Function Service Call ..........................................................- 187 -

Table 5.28 List of Reset Function Service Call.............................................................................- 196 -

Table 7.1 C Language Variable Treatment...................................................................................- 212 -

Table 8.1 Numerical Value Entry Examples ....................................................................................227

Table 8.2 Operators............................................................................................................................ 228

Table 8.3 List of vector number and vector address ........................................................................ 248

Table 9.1 Functions in the Sample Program.................................................................................... 260

Table 10.1 Stack Sizes Used by Service Calls Issued from Tasks (in bytes) .................................. 272

Table 10.2 Stack Sizes Used by Service Calls Issued from Handlers (in bytes) ............................ 273

Table 10.3 Stack Sizes Used by Service Calls Issued from Tasks and Handlers (in bytes) .......... 273

Table 11.1 Interrupt Number Assignment....................................................................................- 275 -

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xii

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1. User’s Manual Organization

The MR100 User’s Manual consists of nine chapters and thee appendix.

• 2 General Information

Outlines the objective of MR100 development and the function and position of the MR100.

• 3 Introduction to Kernel

Explains about the ideas involved in MR100 operations and defines some relevant terms.

• 4 Kernel

Outlines the applications program development procedure for the MR100.

• 5 Service call reffernce

Details MR100 service call API

• 6 Applications Development Procedure Overview

Details the applications program development procedure for the MR100.

• 7 Detailed Applications

Presents useful information and precautions concerning applications program development with MR100.

• 8 Using Configurator

Describes the method for writing a configuration file and the method for using the configurator in detail.

• 9 Sample Program Description

Describes the MR100 sample applications program which is included in the product in the form of a source file.

• 10 Stack Size Calculation Method

Describes the calculation method of the task stack size and the system stack size.

• 11 Note

Presents useful information and precautions concerning applications program development with MR100.

• 12 Appendix

Data type and assembly language interface.

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2. General Information

2.1 Objective of MR100 Development

In line with recent rapid technological advances in microcomputers, the functions of microcomputer-based products have

become complicated. In addition, the microcomputer program size has increased. Further, as product development competi-

tion has been intensified, manufacturers are compelled to develop their microcomputer-based products within a short period

of time.

In other words, engineers engaged in microcomputer software development are now required to develop larger-size pro-

grams within a shorter period of time. To meet such stringent requirements, it is necessary to take the following considera-

tions into account.

1. To enhance software recyclability to decrease the volume of software to be developed.

One way to provide for software recyclability is to divide software into a number of functional modules wherever

possible. This may be accomplished by accumulating a number of general-purpose subroutines and other program

segments and using them for program development. In this method, however, it is difficult to reuse programs that

are dependent on time or timing. In reality, the greater part of application programs are dependent on time or tim-

ing. Therefore, the above recycling method is applicable to only a limited number of programs.

2. To promote team programming so that a number of engineers are engaged in the development

of one software package

There are various problems with team programming. One major problem is that debugging can be initiated only

when all the software program segments created individually by team members are ready for debugging. It is es-

sential that communication be properly maintained among the team members.

3. To enhance software production efficiency so as to increase the volume of possible software

development per engineer.

One way to achieve this target would be to educate engineers to raise their level of skill. Another way would be to

make use of a structured descriptive assembler, C-compiler, or the like with a view toward facilitating program-

ming. It is also possible to enhance debugging efficiency by promoting modular software development.

However, the conventional methods are not adequate for the purpose of solving the problems. Under these circumstances, it

is necessary to introduce a new system named real-time OS ³

To answer the above-mentioned demand, Renesas has developed a real-time operating system, tradenamed MR100, for use

with the R32C/100 series of 32-bit microcomputers .

When the MR100 is introduced, the following advantages are offered.

1. Software recycling is facilitated.

When the real-time OS is introduced, timing signals are furnished via the real-time OS so that programs depend-

ent on timing can be reused. Further, as programs are divided into modules called tasks, structured programming

will be spontaneously provided.

That is, recyclable programs are automatically prepared.

2. Ease of team programming is provided.

When the real-time OS is put to use, programs are divided into functional modules called tasks. Therefore, engi-

neers can be allocated to individual tasks so that all steps from development to debugging can be conducted inde-

pendently for each task.

Further, the introduction of the real-time OS makes it easy to start debugging some already finished tasks even if

the entire program is not completed yet. Since engineers can be allocated to individual tasks, work assignment is

easy.

3. Software independence is enhanced to provide ease of program debugging.

As the use of the real-time OS makes it possible to divide programs into small independent modules called tasks,

OS:Operating System

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the greater part of program debugging can be initiated simply by observing the small modules.

4. Timer control is made easier.

To perform processing at 10 ms intervals, the microcomputer timer function was formerly used to periodically in-

itiate an interrupt. However, as the number of usable microcomputer timers was limited, timer insufficiency was

compensated for by, for instance, using one timer for a number of different processing operations.

When the real-time OS is introduced, however, it is possible to create programs for performing processing at fixed

time intervals making use of the real-time OS time management function without paying special attention to the

microcomputer timer function. At the same time, programming can also be done in such a manner as to let the

programmer take that numerous timers are provided for the microcomputer.

5. Software maintainability is enhanced

When the real-time OS is put to use, the developed software consists of small program modules called tasks.

Therefore, increased software maintainability is provided because developed software maintenance can be carried

out simply by maintaining small tasks.

6. Increased software reliability is assured.

The introduction of the real-time OS makes it possible to carry out program evaluation and testing in the unit of a

small module called task. This feature facilitates evaluation and testing and increases software reliability.

7. The microcomputer performance can be optimized to improve the performance of microcom-

puter-based products.

With the real-time OS, it is possible to decrease the number of unnecessary microcomputer operations such as I/O

waiting. It means that the optimum capabilities can be obtained from microcomputers, and this will lead to mi-

crocomputer-based product performance improvement.

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2.2 Relationship between TRON Specification and MR100

MR100 is the real-time operating system developed for use with the R32C/10 series of 32-bit microcomputers compliant

with µITRON 4.0 Specification. µITRON 4.0 Specification stipulates standard profiles as an attempt to ensure software

portability. Of these standard profiles, MR100 has implemented in it all service calls except for static APIs and task excep-

tion APIs

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2.3 MR100 Features

The MR100 offers the following features.

1. Real-time operating system conforming to the μITORN Specification.

The MR100 is designed in compliance with the μITRON Specification which incorporates a minimum of the

ITRON Specification functions so that such functions can be incorporated into a one-chip microcomputer. As the

μITRON Specification is a subset of the ITRON Specification, most of the knowledge obtained from published

ITRON textbooks and ITRON seminars can be used as is.

Further, the application programs developed using the real-time operating systems conforming to the ITRON

Specification can be transferred to the MR100 with comparative ease.

2. High-speed processing is achieved.

MR100 enables high-speed processing by taking full advantage of the microcomputer architecture.

3. Only necessary modules are automatically selected to constantly build up a system of the

minimum size.

MR100 is supplied in the object library format of the R32C/100 series.

Therefore, the Linkage Editor functions are activated so that only necessary modules are automatically selected

from numerous MR100 functional modules to generate a system.

Thanks to this feature, a system of the minimum size is automatically generated at all times.

4. With the C-compiler NC100, it is possible to develop application programs in C language.

Application programs of MR100 can be developed in C language by using the C compiler NC100. Furthermore,

the interface library necessary to call the MR100 functions from C language is included with the software pack-

age.

5. An upstream process tool named "Configurator" is provided to simplify development proce-

dures

A configurator is furnished so that various items including a ROM write form file can be created by giving simple

definitions.

Therefore, there is no particular need to care what libraries must be linked.

In addition, a GUI version of the configurator is available. It helps the user to create a configuration file without

the need to learn how to write it.

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3. Introduction to Kernel

3.1 Concept of Real-time OS

This section explains the basic concept of real-time OS.

3.1.1

Why Real-time OS is Necessary

In line with the recent advances in semiconductor technologies, the single-chip microcomputer ROM capacity has in-

creased. ROM capacity of 32K bytes.

As such large ROM capacity microcomputers are introduced, their program development is not easily carried out by con-

ventional methods. Figure 3.1 shows the relationship between the program size and required development time (program

development difficulty).

This figure is nothing more than a schematic diagram. However, it indicates that the development period increases expo-

nentially with an increase in program size.

For example, the development of four 8K byte programs is easier than the development of one 32K byte program.⁴

Development Period

Kbyte

Program Size

Figure 3.1 Relationship between Program Size and Development Period

Under these circumstances, it is necessary to adopt a method by which large-size programs can be developed within a short

period of time. One way to achieve this purpose is to use a large number of microcomputers having a small ROM capacity.

Figure 3.2 presents an example in which a number of microcomputers are used to build up an audio equipment system.

On condition that the ROM program burning step need not be performed.

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Key input

microcomputer

Remote control

microcomputer

LED illumination

microcomputer

Arbiter

microcomputer

Volume control

microcomputer

Monitor

microcomputer

Mechanical

control

microcomputer

Figure 3.2 Microcomputer-based System Example(Audio Equipment)

Using independent microcomputers for various functions as indicated in the above example offers the following advan-

tages.

1. Individual programs are small so that program development is easy.

2. It is very easy to use previously developed software.

3. Completely independent programs are provided for various functions so that program devel-

opment can easily be conducted by a number of engineers.

On the other hand, there are the following disadvantages.

1. The number of parts used increases, thereby raising the product cost.

2. Hardware design is complicated.

3. Product physical size is enlarged.

Therefore, if you employ the real-time OS in which a number of programs to be operated by a number of microcomputers

are placed under software control of one microcomputer, making it appear that the programs run on separate microcomput-

ers, you can obviate all the above disadvantages while retaining the above-mentioned advantages.

Figure 3.3 shows an example system that will be obtained if the real-time OS is incorporated in the system indicated in

Figure 3.2.

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Key input

Task

Remote control

Task

LED illumination

Task

real-time

Volume control

Task

Mechanical

control

Monitor

Task

Figure 3.3 Example System Configuration with Real-time OS(Audio Equipment)

In other words, the real-time OS is the software that makes a one-microcomputer system look like operating a number of

microcomputers.

In the real-time OS, the individual programs, which correspond to a number of microcomputers used in a conventional sys-

tem, are called tasks.

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3.1.2

Operating Principles of Kernel

A kernel is the core program of real-time OS. The kernel is the software that makes a one-microcomputer system look like

operating a number of microcomputers. You should be wondering how the kernel makes a one-microcomputer system

function like a number of microcomputers.

As shown in Figure 3.4 the kernel runs a number of tasks according to the time-division system. That is, it changes the task

to execute at fixed time intervals so that a number of tasks appear to be executed simultaneously.

Key input

Task

Remote control

Task

LED

illumination

Task

Volume control

Task

Monitor

Task

Mechanical

control

Task

Time

Figure 3.4 Time-division Task Operation

As indicated above, the kernel changes the task to execute at fixed time intervals. This task switching may also be referred

to as dispatching. The factors causing task switching (dispatching) are as follows.

• Task switching occurs upon request from a task.

• Task switching occurs due to an external factor such as interrupt.

When a certain task is to be executed again upon task switching, the system resumes its execution at the point of last inter-

ruption (See Figure 3.5).

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Program execution

interrupt

Program execution

resumed

Key input

Task

During this interval, it

appears that the key input

microcomputer is haled.

Remote control

Task

Figure 3.5 Task Execution Interruption and Resumption

In the state shown in Figure 3.5, it appears to the programmer that the key input task or its microcomputer is halted while

another task assumes execution control.

Task execution restarts at the point of last interruption as the register contents prevailing at the time of the last interruption

are recovered. In other words, task switching refers to the action performed to save the currently executed task register

contents into the associated task management memory area and recover the register contents for the task to switch to.

To establish the kernel, therefore, it is only necessary to manage the register for each task and change the register contents

upon each task switching so that it looks as if a number of microcomputers exist (See Figure 3.6).

Actual

Kernel

Key input

Task

Remote control

Task

Figure 3.6 Task Switching

The example presented in Figure 3.7 indicates how the individual task registers are managed. In reality, it is necessary

to provide not only a register but also a stack area for each task.

It is figure where all the stack areas of the task were arranged in the same section.

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Memory map

Remote control

Task

Key input

Task

Stack

section

LED illumination

Task

Real-time

SFR

Figure 3.7 Task Register Area

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Figure 3.8 shows the register and stack area of one task in detail. In the MR100, the register of each task is stored in a stack

area as shown in Figure 3.8. This figure shows the state prevailing after register storage.

FLG

Key input task

stack

R7R5

R6R4

R3R1

R2R0

Key input

Task

SFR

Figure 3.8 Actual Register and Stack Area Management

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3.2 Service Call

How does the programmer use the kernel functions in a program?

First, it is necessary to call up kernel function from the program in some way or other. Calling a kernel function is referred

to as a service call. Task activation and other processing operations can be initiated by such a service call (See Figure 3.9).

Remote control

Kernel

Key input

Task

task

Service call

Task switching

Figure 3.9 Service call

This service call is realized by a function call when the application program is written in C language, as shown below.

act_tsk(ID_main,3);

Furthermore, if the application program is written in assembly language, it is realized by an assembler macro call, as shown

below.

act_tsk #ID_main

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3.2.1

Service Call Processing

When a service call is issued, processing takes place in the following sequence.⁶

1. The current register contents are saved.

2. The stack pointer is changed from the task type to the real-time OS (system) type.

3. Processing is performed in compliance with the request made by the service call.

4. The task to be executed next is selected.

5. The stack pointer is changed to the task type.

6. The register contents are recovered to resume task execution.

The flowchart in Figure 3.10 shows the process between service call generation and task switching.

Key input Task

Service call issuance

Processing

Task Selection

Task => SP

LED illumination Task

Figure 3.10 Service Call Processing Flowchart

A different sequence is followed if the issued service call does not evoke task switching.

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3.2.2

Processing Procedures for Service Calls from Handlers

When a service call is issued from a handler, task switching does not occur unlike in the case of a service call from a task.

However, task switching occurs when a return from a handler ⁷is made.

The processing procedures for service calls from handlers are roughly classified into the following three types.

1. A service call from a handler that caused an interrupt during task execution

2. A service call from a handler that caused an interrupt during service call processing

3. A service call from a handler that caused an interrupt (multiplex interrupt) during handler exe-

cution

The service call can't be issued from non-kernel handler. Therefore, The handler described here does not include the non-kernel interrupt

handler.

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Service Calls from a Handler That Caused an Interrupt during Task Execution

Scheduling (task switching) is initiated by the ret_int service call ⁸(See Figure 3.11).

TaskA

Interrupt handler

Interrupt

Save Registers

iset_flg

Service call processing

Restore Registers

ret_int

Task selection

SP <= User

Scheduler

TaskB

Restore Registers

Figure 3.11 Processing Procedure for a Service Call a Handler that caused an interrupt during Task

Execution

The ret_int service call is issued automatically when kernel interrupt handler is written in C language (when #pragma INTHANDLER speci-

fied)

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Service Calls from a Handler That Caused an Interrupt during Service Call Processing

Scheduling (task switching) is initiated after the system returns to the interrupted service call processing (See Figure 3.12).

TaskA

Interrupt handler

wup_tsk

Save Registers

SP <= System

Save

Interrupt

Service call processing

iset_flg

Restore Registers

ret_int

Task selection

SP <= User

Restore Registers

TaskB

Figure 3.12 Processing Procedure for a Service Call from a Handler that caused an interrupt during

Service Call Processing

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Service Calls from a Handler That Caused an Interrupt during Handler Execution

Let us think of a situation in which an interrupt occurs during handler execution (this handler is hereinafter referred to as

handler A for explanation purposes). When task switching is called for as a handler (hereinafter referred to as handler B)

that caused an interrupt during handler A execution issued a service call, task switching does not take place during the exe-

cution of the service call (ret_int service call) returned from handler B, but is effected by the ret_int service call from han-

dler A (See Figure 3.13).

TaskA

Interrupt handler A

Interrupt

Save Registers

SP <= System

Save Registers

iset_flg

Interrupt

Service call processing

Restore Register

ret_int

Restore Register

ret_int

Task selection

SP <= User

Restore Registers

TaskB

Figure 3.13 Processing Procedure for a service call from a Multiplex interrupt Handler

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3.3 Object

The object operated by the service call of a semaphore, a task, etc. is called an "object." An object is identified by the ID

number

3.3.1

The specification method of the object in a service call

Each task is identified by the ID number internally in MR100.

For example, the system says, "Start the task having the task ID number 1."

However, if a task number is directly written in a program, the resultant program would be very low in readability. If, for

instance, the following is entered in a program, the programmer is constantly required to know what the No. 2 task is.

act_tsk(2);

Further, if this program is viewed by another person, he/she does not understand at a glance what the No. 2 task is. To avoid

such inconvenience, the MR100 provides means of specifying the task by name (function or symbol name).

The program named "configurator cfg100 ,"which is supplied with the MR100, then automatically converts the task name

to the task ID number. This task identification system is schematized in Figure 3.14.

sta_tsk(Task name)

Starting the task

having the designated

ID number

Name

Configurator

Program

Real-time OS

Figure 3.14 Task Identification

act_tsk(ID_task);

This example specifies that a task corresponding to "ID_task" be invoked.

It should also be noted that task name-to-ID number conversion is effected at the time of program generation. Therefore,

the processing speed does not decrease due to this conversion feature.

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3.4 Task

This section describes how tasks are managed by MR100.

3.4.1

Task Status

The real-time OS monitors the task status to determine whether or not to execute the tasks.

Figure 3.15 shows the relationship between key input task execution control and task status. When there is a key input, the

key input task must be executed. That is, the key input task is placed in the execution (RUNNING) state. While the system

waits for key input, task execution is not needed. In that situation, the key input task in the WAITING state.

Key input

processing

Waiting for

key input

Task

Key input

processing

RUNNIG state

WAITING state

RUNNING state

Figure 3.15 Task Status

The MR100 controls the following six different states including the RUNNING and WAITING states.

1. RUNNING state

2. READY state

3. WAITING state

4. SUSPENDED state

5. WAITING-SUSPENDED state

6. DORMANT state

Every task is in one of the above six different states. Figure 3.16 shows task status transition.

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MPU execlusive right acquisition

READY state

RUNNING state

MPU execlusive right relinquishment

Entering the

WAITING state

Forced

SUSPENDED state clear

request from other task

SUSPEND request

from other task

termination

request

from other

task

WAITING-SUSPENDED

state

WAITING state

clear

SUSPEND request

from other task

SUSPENDED

state

SUSPENDED state

clear request

Forced termination

request from other task

DORMANT

state

Task activation

Figure 3.16 MR100 Task Status Transition

1. RUNNING state

In this state, the task is being executed. Since only one microcomputer is used, it is natural that only one task is

being executed.

The currently executed task changes into a different state when any of the following conditions occurs.

♦

The task has normally terminated itself by ext_tsk service call.

The task has placed itself in the WAITING. ⁹

Since the service call was issued from the RUNNING state task, the WAITING state of another

task with a priority higher than the RUNNING state task is cleared.

Due to interruption or other event occurrence, the interrupt handler has placed a different task

having a higher priority in the READY state.

The priority assigned to the task has been changed by chg_pri or ichg_pri service call so that the

priority of another READY task is rendered higher.

♦

When the ready queue of the issuing task priority is rotated by the rot_rdq or irot_rdq service call

and control of execution is thereby abandoned

When any of the above conditions occurs, rescheduling takes place so that the task having the highest priority

among those in the RUNNING or READY state is placed in the RUNNING state, and the execution of that task

starts.

2. READY state

The READY state refers to the situation in which the task that meets the task execution conditions is still waiting

for execution because a different task having a higher priority is currently being executed.

When any of the following conditions occurs, the READY task that can be executed second according to the

ready queue is placed in the RUNNING state.

♦

A currently executed task has normally terminated itself by ext_tsk service call.

By issuing dly_tsk, slp_tsk, tslp_tsk, wai_flg, twai_flg, wai_sem, twai_sem, rcv_mbx, trcv_mbx,snd_dtq,tsnd_dtq,rcv_dtq, trcv_dtq,

vtsnd_dtq, vsnd_dtq,vtrcv_dtq,vrcv_dtq, get_mpf, and tget_mpf service call.

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♦

A currently executed task has placed itself in the WAITING state.¹⁰

A currently executed task has changed its own priority by chg_pri or ichg_pri service call so that

the priority of a different READY task is rendered higher.

♦

Due to interruption or other event occurrence, the priority of a currently executed task has been

changed so that the priority of a different READY task is rendered higher.

When the ready queue of the issuing task priority is rotated by the rot_rdq or irot_rdq service call

and control of execution is thereby abandoned

3. WAITING state

When a task in the RUNNING state requests to be placed in the WAITING state, it exits the RUNNING state and

enters the WAITING state. The WAITING state is usually used as the condition in which the completion of I/O

device I/O operation or the processing of some other task is awaited.

The task goes into the WAITING state in one of the following ways.

♦

The task enters the WAITING state simply when the slp_tsk service call is issued. In this case, the

task does not go into the READY state until its WAITING state is cleared explicitly by some other

task.

The task enters and remains in the WAITING state for a specified time period when the dly_tsk

service call is issued. In this case, the task goes into the READY state when the specified time has

elapsed or its WAITING state is cleared explicitly by some other task.

The task is placed into WAITING state for a wait request by the wai_flg, wai_sem, rcv_mbx,

snd_dtq, rcv_dtq, vsnd_dtq, vrcv_dtq, or get_mpf service call. In this case, the task goes from

WAITING state to READY state when the request is met or WAITING state is explicitly canceled

by another task.

♦

The tslp_tsk, twai_flg, twai_sem, trcv_mbx, tsnd_dtq, trcv_dtq, vtsnd_dtq, vtrcv_dtq and tget_mpf

service calls are the timeout-specified versions of the slp_tsk, wai_flg, wai_sem, rcv_mbx, snd_dtq,

rcv_dtq, vsnd_dtq, vrcv_dtq and get_mpf service calls. The task is placed into WAITING state for a

wait request by one of these service calls. In this case, the task goes from WAITING state to

READY state when the request is met or the specified time has elapsed.

If the task is placed into WAITING state for a wait request by the wai_flg, wai_sem, rcv_mbx,

snd_dtq, rcv_dtq, vsnd_dtq, vrcv_dtq, get_mpf, twai_flg, twai_sem, trcv_mbx, tsnd_dtq, trcv_dtq,

vtsnd_dtq, vtrcv_dtq and tget_mpf service call, the task is queued to one of the following waiting

queues depending on the request.

Event flag waiting queue

Semaphore waiting queue

Mailbox message reception waiting queue

Data queue data transmission waiting queue

Data queue data reception waiting queue

Short data queue data transmission waiting queue

Short data queue data reception waiting queue

Fixed-size memory pool acquisition waiting queue

4. SUSPENDED state

When the sus_tsk service call is issued from a task in the RUNNING state or the isus_tsk service call is issued

from a handler, the READY task designated by the service call or the currently executed task enters the SUS-

PENDED state. If a task in the WAITING state is placed in this situation, it goes into the WAIT-

ING-SUSPENDED state.

The SUSPENDED state is the condition in which a READY task or currently executed task¹¹is excluded from

scheduling to halt processing due to I/O or other error occurrence. That is, when the suspend request is made to a

READY task, that task is excluded from the execution queue.

Note that no queue is formed for the suspend request. Therefore, the suspend request can only be made to the

Depends on the dly_tsk, slp_tsk, tslp_tsk, wai_flg, twai_flg, wai_sem, twai_sem, rcv_mbx, trcv_mbx,snd_dtq,tsnd_dtq,rcv_dtq, trcv_dtq,

vtsnd_dtq, vsnd_dtq,vtrcv_dtq,tget_mpf, get_mpf and vrcv_dtq service call.

If the task under execution is placed into a forcible wait state by the isus_tsk service call from the handler, the task goes from an execut-

ing state directly to a forcible wait state. Please note that in only this case exceptionally, it is possible that a task will go from an executing

state directly to a forcible wait state.

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tasks in the RUNNING, READY, or WAITING state.¹²If the suspend request is made to a task in the SUS-

PENDED state, an error code is returned.

5. WAITING-SUSPENDED

If a suspend request is issued to a task currently in a WAITING state, the task goes to a WAITING-SUSPENDED

state. If a suspend request is issued to a task that has been placed into a WAITING state for a wait request by the

slp_tsk, wai_flg, wai_sem, rcv_mbx, snd_dtq, rcv_dtq, vsnd_dtq, vrcv_dtq, get_mpf, tslp_tsk, twai_flg, twai_sem,

trcv_mbx, tsnd_dtq, trcv_dtq, vtsnd_dtq, vtrcv_dtq or tget_mpf service call, the task goes to a WAIT-

ING-SUSPENDED state.

When the wait condition for a task in the WAITING-SUSPENDED state is cleared, that task goes into the SUS-

PENDED state. It is conceivable that the wait condition may be cleared, when any of the following conditions

occurs.

♦

The task wakes up upon wup_tsk, or iwup_tsk service call issuance.

The task placed in the WAITING state by the dly_tsk or tslp_tsk service call wakes up after the

specified time elapse.

♦

The request of the task placed in the WAITING state by the wai_flg , wai_sem, rcv_mbx, snd_dtq,

rcv_dtq, vsnd_dtq, vrcv_dtq, get_mpf, tslp_tsk, twai_flg, twai_sem, trcv_mbx, tsnd_dtq, trcv_dtq,

vtsnd_dtq, vtrcv_dtq or tget_mpf service call is fulfilled.

♦

The WAITING state is forcibly cleared by the rel_wai or irel_wai service call

When the SUSPENDED state clear request by rsm_tsk or irsm_tsk is made to a task in the WAIT-

ING-SUSPENDED state, that task goes into the WAITING state. Since a task in the SUSPENDED state cannot

request to be placed in the WAITING state, status change from SUSPENDED to WAITING-SUSPENDED does

not possibly occur.

6. DORMANT

This state refers to the condition in which a task is registered in the MR100 system but not activated. This task

state prevails when either of the following two conditions occurs.

♦

The task is waiting to be activated.

The task is normally terminated by ext_tsk service call or forcibly terminated by ter_tsk service

call.

If a forcible wait request is issued to a task currently in a wait state, the task goes to a WAITING-SUSPENDED state.

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3.4.2

Task Priority and Ready Queue

In the kernel, several tasks may simultaneously request to be executed. In such a case, it is necessary to determine which

task the system should execute first. To properly handle this kind of situation, the system organizes the tasks into proper

execution priority and starts execution with a task having the highest priority. To complete task execution quickly, tasks

related to processing operations that need to be performed immediately should be given higher priorities.

The MR100 permits giving the same priority to several tasks. To provide proper control over the READY task execution

order, the kernel generates a task execution queue called "ready queue." The ready queue structure is shown in Figure

3.17¹³The ready queue is provided and controlled for each priority level. The first task in the ready queue having the

highest priority is placed in the RUNNING state.¹⁴

Priority

TCB

Figure 3.17 Ready Queue (Execution Queue)

The TCB(task control block is described in the next chapter.)

The task in the RUNNING state remains in the ready queue.

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3.4.3

Task Priority and Waiting Queue

In The standard profiles in µITRON 4.0 Specification support two waiting methods for each object. In one method, tasks

are placed in a waiting queue in order of priority (TA_TPRI attribute); in another, tasks are placed in a waiting queue in

order of FIFO (TA_TFIFO).

Figure 3.18 and Figure 3.19 depict the manner in which tasks are placed in a waiting queue in order of "taskD," "taskC,"

"taskA," and "taskB."

ID No.

taskA

taskB

taskC

taskD

Priority 1

Priority 5

Priority 6

Priority 9

Figure 3.18 Waiting queue of the TA_TPRI attribute

ID No.

taskD

taskC

taskA

taskB

Priority 9

Priority 6

Priority 1

Priority 5

Figure 3.19 Waiting queue of the TA_TFIFO attribute

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3.4.4

Task Control Block(TCB)

The task control block (TCB) refers to the data block that the real-time OS uses for individual task status, priority, and oth-

er control purposes.

The MR100 manages the following task information as the task control block

• Task connection pointer

Task connection pointer used for ready queue formation or other purposes.

• Task status

• Task priority

• Task register information and other data¹⁵storage stack area pointer(current SP value)

• Wake-up counter

Task wake-up request storage area.

• Flag wait mode

This is a wait mode during eventflag wait.

• Flag wait pattern

This area stores the flag wait pattern when using the eventflag wait service call (wai_flg, twai_flg). No flag wait

pattern area is allocated when the eventflag is not used.

• Startup request counter

This is the area in which task startup requests are accumulated.

The task control block is schematized in Figure 3.20.

TCB

Task Connection pointer

Status

Priority

Wake-up counter

Flag wait mode

Activation counter

This area is allocated only when

the timeout function is used.

Flag wait pattern

Figure 3.20 Task control block

Called the task context

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3.5 System States

3.5.1

Task Context and Non-task Context

The system runs in either context state, "task context" or "non-task context." The differences between the task content and

non-task context are shown in Table 3-1. Task Context and Non-task Context.

Table 3.1 Task Context and Non-task Context

Task context

Non-task context

Invocable service call

Task scheduling

Those that can be invoked from

task context

Those that can be invoked from

non-task context

Occurs when the queue state has

changed to other than dispatch dis-

abled and CPU locked states.

It does not occur.

Stack

User stack

System stack

The processes executed in non-task context include the following.

1. Interrupt Handler

A program that starts upon hardware interruption is called the interrupt handler. The MR100 is not concerned in interrupt

handler activation. Therefore, the interrupt handler entry address is to be directly written into the interrupt vector table.

There are two interrupt handlers: Non-kernel interrupts (OS independent interrupts) and kernel interrupts (OS dependent

interrupts). For details about each type of interrupt, refer to Section 3.6.

The system clock interrupt handler (isig_tim) is one of these interrupt handlers.

2. Cyclic Handler

The cyclic handler is a program that is started cyclically every preset time. The set cyclic handler may be started or stopped

by the sta_cyc(ista_cyc) or stp_cyc(istp_cyc) service call.

The cyclic handler startup time of day is unaffected by a change in the time of day by set_tim(iset_tim).

3. Alarm Handler

The alarm handler is a handler that is started after the lapse of a specified relative time of day. The alarm handler startup

time of day is determined by a time of day relative to the time of day set by sta_alm(ista_alm), and is unaffected by a

change in the time of day by set_tim(iset_tim).

The cyclic and alarm handlers are invoked by a subroutine call from the system clock interrupt (timer interrupt) handler.

Therefore, cyclic and alarm handlers operate as part of the system clock interrupt handler. Note that when the cyclic or

alarm handler is invoked, it is executed in the interrupt priority level of the system clock interrupt.

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Task

System clock

interrupt handler

Cyclic handler

Alarm handler

Subroutine call

Timer interrupt

RTS

Figure 3.21 Cyclic Handler/Alarm Handler Activation

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3.5.2

Dispatch Enabled/Disabled States

The system assumes either a dispatch enabled state or a dispatch disabled state. In a dispatch disabled state, no task sched-

uling is performed. Nor can service calls be invoked that may cause the service call issuing task to enter a wait state.¹⁶

The system can be placed into a dispatch disabled state or a dispatch enabled state by the dis_dsp or ena_dsp service call,

respectively. Whether the system is in a dispatch disabled state can be known by the sns_dsp service call.

3.5.3

CPU Locked/Unlocked States

The system assumes either a CPU locked state or a CPU unlocked state. In a CPU locked state, all external interrupts are

disabled against acceptance, and task scheduling is not performed either.

The system can be placed into a CPU locked state or a CPU unlocked state by the loc_cpu(iloc_cpu) or unl_cpu(iunl_cpu)

service call, respectively. Whether the system is in a CPU locked state can be known by the sns_loc service call.

The service calls that can be issued from a CPU locked state are limited to those that are listed in Table 3-2.¹⁷

Table 3.2 Invocable Service Calls in a CPU Locked State

loc_cpu

ext_tsk

sns_loc

iloc_cpu

exd_tsk

sns_dsp

unl_cpu

sns_tex

sns_dpn

iunl_cpu

sns_ctx

3.5.4

Dispatch Disabled and CPU Locked States

In µITRON 4.0 Specification, the dispatch disabled and the CPU locked states are clearly discriminated. Therefore, if the

unl_cpu service call is issued in a dispatch disabled state, the dispatch disabled state remains intact and no task scheduling

is performed. State transitions are summarized in Table 3.3.

Table 3.3 CPU Locked and Dispatch Disabled State Transitions Relating to dis_dsp and loc_cpu

State

Content of state

dis_dsp

ena_dsp

loc_cpu

unl_cpu

number

executed executed executed executed

CPU locked

state

Dispatch disabled

state

=> 4

=> 3

=> 1

=> 2

=> 1

=> 2

=> 3

=> 4

=> 3

=> 4

If a service call not issuable is issued when dispatch disabled, MR100 doesn't return the error and doesn't guarantee the operation.

MR100 does not return an error even when an uninvocable service call is issued from a CPU locked state, in which case, however, its

operation cannot be guaranteed.

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3.6 Regarding Interrupts

3.6.1

Types of Interrupt Handlers

MR100's interrupt handlers consist of kernel interrupt handlers and non-kernel interrupt handlers.

The following shows the definition of each type of interrupt handler.

• Kernel interrupt handler

An interrupt handler whose interrupt priority level is lower than a kernel interruption mask level is called kernel

interrupt handler. That is, interruption priority level is from 1 to system_IPL.

A service call can be issued within a kernel interrupt handler. However, interrupt is delayed until it becomes re-

ceivable the kernel interrupt handler generated during service call processing.

• Non-kernel interrupt handler

An interrupt handler whose interrupt priority level is higher than a kernel interrupt mask level is called non-kernel

interrupt handler. That is, interruption priority level is from system_IPL+1 to 7.

A service call cannot be issued within non-kernel interrupt handler. However, the non-kernel interrupt handler is

able to be recieved during service call processing, even if it is the section where it is not able to receive a kernel

interrupt handler:

Figure 3.22 shows the relationship between the non-kernel interrupt handlers and kernel interrupt handlers where the kernel

mask level is set to 3.

Kernel mask level

Low

High

Kernel

Interrupt handler

Non-kernel

Interrupt handler

Figure 3.22 Interrupt handler IPLs

3.6.2

The Use of Non-maskable Interrupt

Non-maskable interrupt ( ex. NMI interrupt ,Watchdog Timer interrupt) are treated as a non-kernel interrupt handler.

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3.6.3

Controlling Interrupts

Interrupt enable/disable control in a service call is accomplished by IPL manipulation. The IPL value in a service call is set

to the kernel mask level(OS interrupt disable level = system.IPL) in order to disable interrupts for the kernel interrupt han-

dler. In sections where all interrupts can be enabled, it is returned to the initial IPL value when the service call was invoked.

• For service calls that can be issued from only task context.

When the I flag before issuing a service call is 1.

Service call processing

Task

Service call issued

I flag

IPL

system.IPL

When the I flag before issuing a service call is 0.

Task Service call issued

Service call processing

I flag

IPL

system.IPL

Figure 3.23 Interrupt control in a Service Call that can be Issued from only a Task

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• For service calls that can be issued from only non-task context or from both task context and non-task

context.

When the I flag before issuing a service call is 1

Task or

service call processing

Service call issued

Handler

I flag

IPL

system.IPL

When the I flag before issuing a service call is 0

Task or

service call processing

Service call issued

Handler

I flag

IPL

system.IPL

Figure 3.24 Interrupt control in a Service Call that can be Issued from a Task-independent

As shown in Figure 3.23 and Figure 3.24, the interrupt enable flag and IPL change in a service call. For this reason, if you

want to disable interrupts in a user application, Renesas does not recommend using the method for manipulating the inter-

rupt disable flag and IPL to disable the interrupts.

The following two methods for interrupt control are recommended:

1. Modify the interrupt control register (SFR) for the interrupt you want to be disabled.

2. Use service calls loc_cpu(iloc_cpu) and unl_cpu(iunl_cpu).

The interrupts that can be controlled by the loc_cpu service call are only the kernel interrupt. Use method 1 to control the

non-kernel interrupts.

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3.7 Stacks

3.7.1

System Stack and User Stack

The MR100 provides two types of stacks: system stack and user stack.

• User Stack

One user stack is provided for each task. Therefore, when writing applications with the MR100, it is necessary to

furnish the stack area for each task.

• System Stack

This stack is used within the MR100 (during service call processing). When a service call is issued from a task,

the MR100 switches the stack from the user stack to the system stack (See Figure 3.25).

The system stack use the interrupt stack(ISP).

Task

MR100 service call processing

User Stack

System Stack

User Stack

Save Registers

Stack switching

XXX_XXX( )

Service call

processing

Task sel ection

Stack switching

Restore Registers

Figure 3.25 System Stack and User Stack

Switchover from user stack to system stack occurs when an interrupt of vector numbers 0 to 127 is generated. Consequently,

all stacks used by the interrupt handler are the system stack.

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4. Kernel

4.1.1

Module Structure

The MR100 kernel consists of the modules shown in Figure 4.1. Each of these modules is composed of functions that exer-

cise individual module features.

The MR100 kernel is supplied in the form of a library, and only necessary features are linked at the time of system genera-

tion. More specifically, only the functions used are chosen from those which comprise these modules and linked by means

of the Linkage Editor. However, the scheduler module, part of the task management module, and part of the time manage-

ment module are linked at all times because they are essential feature functions.

The applications program is a program created by the user. It consists of tasks, interrupt handler, alarm handler, and cyclic

handler.¹⁸

User Module

Application Program

Task

Ma na geme nt

Time

Management

Mailbox

Semaphore

Task-dependent

synchronization

Memorypool

Management

MR100 kernel

Hardware

System stae

Manage ment

Eventflag

System configuration

Management

Interrupt

Management

short

Data queue

Scheduler

Alarm/Cyclic handler

R32C/100 Microcomputer

Figure 4.1 MR100 Structure

For details, See 4.1.11.

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4.1.2

Module Overview

The MR100 kernel modules are outlined below.

• Scheduler

Forms a task processing queue based on task priority and controls operation so that the high-priority task at the

beginning in that queue (task with small priority value) is executed.

• Task Management Module

Exercises the management of various task states such as the RUNNING, READY, WAITING, and SUSPENDED

state.

• Task Synchronization Module

Accomplishes inter-task synchronization by changing the task status from a different task.

• Interrupt Management Module

Makes a return from the interrupt handler.

• Time Management Module

Sets up the system timer used by the MR100 kernel and starts the user-created alarm handler¹⁹and cyclic han-

dler.²⁰.

• System Status Management Module

Gets the system status of MR100.

• System Configuration Management Module

Reports the MR100 kernel version number or other information.

• Synchronization and Communication Module

This is the function for synchronization and communication among the tasks. The following four functional mod-

ules are offered.

♦

Eventflag

Checks whether the flag controlled within the MR100 is set up and then determines whether or not to initi-

ate task execution. This results in accomplishing synchronization between tasks.

♦

Semaphore

Reads the semaphore counter value controlled within the MR100 and then determines whether or not to ini-

tiate task execution. This also results in accomplishing synchronization between tasks.

♦

Mailbox

Provides inter-task data communication by delivering the first data address.

Data queue

Performs 32-bit data communication between tasks.

• Memory pool Management Module

Provides dynamic allocation or release of a memory area used by a task or a handler.

• Extended Function Module

Outside the scope of µITRON 4.0 Specification , this function performs reset processing on objects and short data

queue function.

This handler actuates once only at preselected times.

This handler periodically actuates.

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4.1.3

Task Management Function

The task management function is used to perform task operations such as task start/stop and task priority updating. The

MR100 kernel offers the following task management function service calls.

• Activate Task (act_tsk, iact_tsk)

Activates the task, changing its status from DORMANT to either READY or RUNNING. In this service call, un-

like in sta_tsk(ista_tsk), startup requests are accumulated, but startup code cannot be specified.

• Activate Task (sta_tsk, ista_tsk)

Activates the task, changing its status from DORMANT to either READY or RUNNING. In this service call, un-

like in act_tsk(iact_tsk), startup requests are not accumulated, but startup code can be specified.

• Terminate Invoking Task (ext_tsk)

When the issuing task is terminated, its state changes to DORMANT state. The task is therefore not executed until

it is restarted. If startup requests are accumulated, task startup processing is performed again. In that case, the is-

suing task behaves as if it were reset.

If written in C language, this service call is automatically invoked at return from the task regardless of whether it

is explicitly written when terminated.

• Terminate Task (ter_tsk)

Other tasks in other than DORMANT state are forcibly terminated and placed into DORMANT state. If startup

requests are accumulated, task startup processing is performed again. In that case, the task behaves as if it was re-

set. (See Figure 4.2).

Startup request count > 0

TaskA

TaskB

ter_tsk(B)

Terminated

Task B reset

Figure 4.2 Task Resetting

• Change Task Priority (chg_pri, ichg_pri)

If the priority of a task is changed while the task is in READY or RUNNING state, the ready queue also is up-

dated. (See Figure 4.3).

Furthermore, if the target task is placed in a waiting queue of objects with TA_TPRI attribute, the waiting queue

also is updated. (See Figure 4.4).

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Priority

Task A

Task C

Task E

Task B

Task F

Task D

When the priority of task B has been changed from 3 to 1

Figure 4.3 Alteration of task priority

ID Number

１

２

３

taskB

taskA

taskC

taskB

Priority 1

Priority 2

Priority 3

Priority 4

ｎ

When the priority of Task B is changed into 4

Figure 4.4 Task rearrangement in a waiting queue

• Reference task priority (get_pri, iget_pri)

Gets the priority of a task.

• Reference task status (simple version) (ref_tst, iref_tst)

Refers to the state of the target task.

• Reference task status (ref_tsk, iref_tsk)

Refers to the state of the target task and its priority, etc.

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4.1.4

Synchronization functions attached to task

The task-dependent synchronization functions attached to task is used to accomplish synchronization between tasks by

placing a task in the WAIT, SUSPENDED, or WAIT-SUSPENDED state or waking up a WAIT state task.

The MR100 offers the following task incorporated synchronization service calls.

• Put Task to sleep (slp_tsk,tslp_tsk)

• Wakeup task (wup_tsk, iwup_tsk)

Wakeups a task that has been placed in a WAIT state by the slp_tsk or tslp_tsk service call.

No task can be waked up unless they have been placed in a WAITING state by.²¹

If a wakeup request is issued to a task that has been kept waiting for conditions other than the slp_tsk or tslp_tsk

service call or a task in other than DORMANT state by the wup_tsk or iwup_tsk service call, that wakeup re-

quest only will be accumulated.

Therefore, if a wakeup request is issued to a task RUNNING state, for example, this wakeup request is temporar-

ily stored in memory. Then, when the task in RUNNING state is going to be placed into WAITING state by the

slp_tsk or tslp_tsk service call, the accumulated wakeup request becomes effective, so that the task continues ex-

ecuting again without going to WAITING state. (See Figure 4.5).

• Cancel Task Wakeup Requests (can_wup)

Clears the stored wakeup request.(See Figure 4.6).

wup_tsk wup_tsk wup_tsk

slp_tsk

Task

Wakeup request count

Figure 4.5 Wakeup Request Storage

wup_tsk wup_tsk can_wup

slp_tsk

Task

Wakeup request count

Figure 4.6 Wakeup Request Cancellation

Note that tasks in WAITING state, but kept waiting for the following conditions are not awaken.

Eventflag wait state, semaphore wait state, data transmission wait state, data reception wait state, timeout wait state, fixed length

memory pool acquisition wait, short data transmission wait, or short data reception wait

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• Suspend task (sus_tsk, isus_tsk)

• Resume suspended task (rsm_tsk, irsm_tsk)

These service calls forcibly keep a task suspended for execution or resume execution of a task. If a suspend re-

quest is issued to a task in READY state, the task is placed into SUSPENDED state; if issued to a task in WAIT

ING state, the task is placed into WAITING-SUSPENDED state. Since MR100 allows only one forcible wait re-

quest to be nested, if sus_tsk is issued to a task in a forcible wait state, the error E_QOVR is returned. (See

Figure 4.7).

E_QOVR

sus_tsk

rsm_tsk

Task

READY state

RUNNING

state

SUSPENDED

state

WAITING-

SUSPENDED

state

WAITING state

Number of

suspension

request

Figure 4.7 Forcible wait of a task and resume

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• Forcibly resume suspended task (frsm_tsk, ifrsm_tsk)

Clears the number of suspension requests nested to 0 and forcibly resumes execution of a task. Since MR100 al-

lows only one suspension request to be nested, this service call behaves the same way as rsm_tsk and

irsm_tsk..(See Figure 4.8).

sus_tsk

frsm_tsk

Task

READY state

READYstate

SUSPENDED

state

WAITING

state

WAITING –

SUSPENDED

state

WAITING state

Number of

suspension

requests

Figure 4.8 Forcible wait of a task and forcible resume

• Release task from waiting (rel_wai, irel_wai)

Forcibly frees a task from WAITING state. A task is freed from WAITING state by this service call when it is in

one of the following wait states.

♦

Timeout wait state

Wait state entered by slp_tsk service call (+ timeout included)

Event flag (+ timeout included) wait state

Semaphore (+ timeout included) wait state

Message (+ timeout included) wait state

Data transmission (+ timeout included) wait state

Data reception (+ timeout included) wait state

Fixed–size memory block (+ timeout included) acquisition wait state

Short data transmission (+ timeout included) wait state

Short data reception (+ timeout included) wait state

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• Delay task (dly_tsk)

Keeps a task waiting for a finite length of time. Figure 4.9 shows an example in which execution of a task is kept

waiting for 10 ms by the dly_tsk service call. The timeout value should be specified in ms units, and not in time

tick units.

dly_tsk(10)

Task

10msec

Figure 4.9 dly_tsk service call

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4.1.5

Synchronization and Communication Function (Semaphore)

The semaphore is a function executed to coordinate the use of devices and other resources to be shared by several tasks in

cases where the tasks simultaneously require the use of them. When, for instance, four tasks simultaneously try to acquire a

total of only three communication lines as shown in Figure 4.10, communication line-to-task connections can be made

without incurring contention.

Task

Communication

Line

Communication

Task

Line

Communication

Line

Task

Semaphore

Task

Figure 4.10 Exclusive Control by Semaphore

The semaphore has an internal semaphore counter. In accordance with this counter, the semaphore is acquired or released to

prevent competition for use of the same resource.(See Figure 4.11).

Acquired

Task

Returned after use

Figure 4.11 Semaphore Counter

The MR100 kernel offers the following semaphore synchronization service calls.

• Release Semaphore Resource(sig_sem, isig_sem)

Releases one resource to the semaphore. This service call wakes up a task that is waiting for the semaphores ser-

vice, or increments the semaphore counter by 1 if no task is waiting for the semaphores service.

• Acquire Semaphore Resource(wai_sem, twai_sem)

Waits for the semaphores service. If the semaphore counter value is 0 (zero), the semaphore cannot be acquired.

Therefore, the WAITING state prevails.

• Acquire Semaphore Resource(pol_sem, ipol_sem)

Acquires the semaphore resource. If there is no semaphore resource to acquire, an error code is returned and the

WAITING state does not prevail.

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• Reference Semaphore Status (ref_sem, iref_sem)

Refers the status of the target semaphore. Checks the count value and existence of the wait task for the target se-

maphore.

Figure 4.12 shows example task execution control provided by the wai_sem and sig_sem service calls.

wai_sem

sig_sem

Task

wai_sem

WAIT state

Semaphore

Counter

Figure 4.12 Task Execution Control by Semaphore

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4.1.6

Synchronization and Communication Function (Eventflag)

The eventflag is an internal facility of MR100 that is used to synchronize the execution of multiple tasks. The eventflag

uses a flag wait pattern and a 32-bit pattern to control task execution. A task is kept waiting until the flag wait conditions

set are met.

It is possible to determine whether multiple waiting tasks can be enqueued in one eventflag waiting queue by specifying the

eventflag attribute TA_WSGL or TA_WMUL.

Furthermore, it is possible to clear the eventflag bit pattern to 0 when the eventflag meets wait conditions by specifying

TA_CLR for the eventflag attribute.

There are following eventflag service calls that are provided by the MR100 kernel.

• Set Eventflag (set_flg, iset_flg)

Sets the eventflag so that a task waiting the eventflag is released from the WAITING state.

• Clear Eventflag (clr_flg, iclr_flg)

Clears the Eventflag.

• Wait for Eventflag (wai_flg, twai_flg)

Waits until the eventflag is set to a certain pattern. There are two modes as listed below in which the eventflag is

waited for.

♦

AND wait

Waits until all specified bits are set.

OR wait

Waits until any one of the specified bits is set

• Wait for Eventflag (polling)(pol_flg, ipol_flg)

Examines whether the eventflag is in a certain pattern. In this service call, tasks are not placed in WAITING state.

• Reference Eventflag Status (ref_flg, iref_flg)

Checks the existence of the bit pattern and wait task for the target eventflag.

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Figure 4.13 shows an example of task execution control by the eventflag using the wai_flg and set_flg service calls.

The eventflag has a feature that it can wake up multiple tasks collectively at a time.

In Figure 4.13, there are six tasks linked one to another, task A to task F. When the flag pattern is set to 0xF by the set_flg

service call, the tasks that meet the wait conditions are removed sequentially from the top of the queue. In this diagram, the

tasks that meet the wait conditions are task A, task C, and task E. Out of these tasks, task A, task C, and task E are removed

from the queue.

If this event flag has a TA_CLR attribute, when the waiting of Task A is canceled, the bit pattern of the event flag will be

set to 0, and Task C and Task E will not be removed from queue.

TaskD

Flag queue

TaskA

TaskB

TaskC

TaskF

TaskE

Flag pattern

Wait pattern

Wait mode

0x0F

0xFF

AND

0x0F

AND

0xFF

AND

0xFF

0x10

set_flg

TaskB

TaskD

TaskF

Flag pattern

0x0F

Figure 4.13 Task Execution Control by the Eventflag

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4.1.7

Synchronization and Communication Function (Data Queue)

The data queue is a mechanism to perform data communication between tasks. In Figure 4.14, for example, task A can

transmit data to the data queue and task B can receive the transmitted data from the data queue.

Data

Task B

Task A

Figure 4.14 Data queue

Data in width of 32 bits can be transmitted to this data queue.

The data queue has the function to accumulate data. The accumulated data is retrieved in order of FIFO²². However, the

number of data that can be accumulated in the data queue is limited. If data is transmitted to the data queue that is full of

data, the service call issuing task goes to a data transmission wait state.

There are following data queue service calls that are provided by the MR100 kernel.

• Send to Data Queue(snd_dtq, tsnd_dtq)

The data is transmitted to the data queue. If the data queue is full of data, the task goes to a data transmission wait

state.

• Send to Data Queue (psnd_dtq, ipsnd_dtq)

The data is transmitted to the data queue. If the data queue is full of data, the task returns error code without going

to a data transmission wait state.

• Forced Send to Data Queue (fsnd_dtq, ifsnd_dtq)

The data is transmitted to the data queue. If the data queue is full of data, the data at the top of the data queue or

the oldest data is removed, and the transmitted data is stored at the tail of the data queue.

• Receive from Data Queue (rcv_dtq, trcv_dtq)

The data is retrieved from the data queue. If the data queue has no data in it, the task is kept waiting until data is

transmitted to the data queue.

• Receive from Data Queue (prcv_dtq,iprcv_dtq)

The data is received from the data queue. If the data queue has no data in it, the task returns error code without

going to a data reception wait state.

• Reference Data Queue Status (ref_dtq,iref_dtq)

Checks to see if there are any tasks waiting for data to be entered in the target data queue and refers to the number

of the data in the data queue.

First In First Out

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4.1.8

Synchronization and Communication Function (Mailbox)

The mailbox is a mechanism to perform data communication between tasks. In Figure 4.15, for example, task A can drop a

message into the mailbox and task B can retrieve the message from the mailbox. Since mailbox-based communication is

achieved by transferring the start address of a message from a task to another, this mode of communication is performed at

high speed independently of the message size.

The kernel manages the message queue by means of a link list. The application should prepare a header area that is to be

used for a link list. This is called the message header. The message header and the area actually used by the application to

store a message are called the message packet. The kernel rewrites the content of the message header as it manages the

message queue. The message header cannot be rewritten from the application. The structure of the message queue is shown

in Figure 4.16. The message header has its data types defined as shown below.

T_MSG:

Mailbox message header

T_MSG_PRI:

Mailbox message header with priority included

Messages in any size can be enqueued in the message queue because the header area is reserved on the application side. In

no event will tasks be kept waiting for transmission.

Messages can be assigned priority, so that messages will be received in order of priority beginning with the highest. In this

case, TA_MPRI should be added to the mailbox attribute. If messages need to be received in order of FIFO, add

TA_MFIFO to the mailbox attribute.²³Furthermore, if tasks in a message wait state are to receive a message, the tasks can

be prioritized in which order they can receive a message, beginning with one that has the highest priority. In this case, add

TA_TPRI to the mailbox attribute. If tasks are to receive a message in order of FIFO, add TA_TFIFO to the mailbox attrib-

ute.²⁴

Message

TaskA

Message

TaskB

Figure 4.15 Mailbox

It is in the mailbox definition "message_queue" of the configuration file that the TA_MPRI or TA_MFIFO attribute should be added.

It is in the mailbox definition "wait_queue" of the configuration file that the TA_TPRI or TA_TFIFO attribute should be added.

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Message

queue

T_MSG

header

T_MSG

header

T_MSG

header

Message A

Message B

Message C

Figure 4.16 Message queue

There are following data queue service calls that are provided by the MR100 kernel.

• Send to Mailbox (snd_mbx, isnd_mbx)

Transmits a message. Namely, a message is dropped into the mailbox.

• Receive from Mailbox (rcv_mbx, trcv_mbx)

Receives a message. Namely, a message is retrieved from the mailbox. At this time, if the mailbox has no mes-

sages in it, the task is kept waiting until a message is sent to the mailbox.

• Receive from Mailbox (polling) (prcv_mbx, iprcv_mbx)

Receives a message. The difference from the rcv_mbx service call is that if the mailbox has no messages in it, the

task returns error code without going to a wait state.

• Reference Mailbox Status (ref_mbx, iref_mbx)

Checks to see if there are any tasks waiting for a message to be put into the target mailbox and refers to the mes-

sage present at the top of the mailbox.

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4.1.9

Memory pool Management Function(Fixed-size Memory pool)

A fixed-size memory pool is the memory of a certain decided size. The memory block size is specified at the time of a con-

figuration. Figure 4.17 is a figure about the example of a fixed-size memory pool of operation.

• Acquire Fixed-size Memory Block (get_mpf, tget_mpf)

Acquires a memory block from the fixed-size memory pool that has the specified ID. If there are no blank mem-

ory blocks in the specified fixed-size memory pool, the task that issued this service call goes to WAITING state

and is enqueued in a waiting queue.

• Acquire Fixed-size Memory Block (polling) (pget_mpf, ipget_mpf)

Acquires a memory block from the fixed-size memory pool that has the specified ID. The difference from the

get_mpf and tget_mpf service calls is that if there are no blank memory blocks in the memory pool, the task re-

turns error code without going to WAITING state.

Memory Block 1:

Memory Block 2:

Memory Block 3:

Used by TaskA

Used by TaskB

Memory block acquisition

request

TaskC

TaskD

Memory block acquisition

request

No blank memory

blocks available

Fixed Length Memorypool

Goes to a

wait state

Figure 4.17 Memory Pool Management

• Release Fixed-size Memory Block (rel_mpf, irel_mpf)

Frees the acquired memory block. If there are any tasks in a wait state for the specified fixed-size memory pool,

the task enqueued at the top of the waiting queue is assigned the freed memory block. In this case, the task

changes its state from WAITING state to READY state. If there are no tasks in a wait state, the memory block is

returned to the memory pool.

• Reference Fixed-size Memory Pool Status (ref_mpf, iref_mpf)

Checks the number and the size of blank blocks available in the target memory pool.

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4.1.10

Variable-size Memory Pool Management Function

A variable-size memory pool refers to the one in which a memory block of any desired size can be acquired from the mem-

ory pool. The MR100 permits one of the following two memory pool management methods to be selected before the mem-

ory pool is used.

1. Normal block method

2. Small block method

Each of these methods are explained below.

[[Normal Block Method]]

The technique that allows you to arbitrary define the size of memory block acquirable from the memory pool is termed Va-

riable-size scheme. The MR100 manages memory in terms of four fixed-size memory block sizes.

The MR100 calculates the size of individual blocks based on the maximum memory block size to be acquired. You specify

the maximum memory block size using the configuration file.

• Equation for calculating four kinds of block sizes

a = (((max_memsize+(X-1))/ X × 8)+1) × 8

b = a × 2

c = a × 4

d = a × 8

max_memsize: the value specified in the configuration file

X: data size for block control (8 byte)

• Example of a configuration file

variable_memorypool[]{

max_memsize

heap_size

= 400; <---- Maximum size

= 5000;

};

If a variable-size memory pool is defined as shown above, the four kinds of fixed length block sizes are obtained from the

define value of max_memsize as 56, 112, 224 and 448, respectively. Furthermore, the MR100 calculates the memory re-

quested by the user based on a specified size to select the appropriate size from the four kinds of fixed length block sizes as

it allocates the requested memory. In no event will a memory block other than these four kinds of size be allocated.

[[Small block method]]

Unlike the normal block method where memory is managed in four kinds of fixed length block sizes, the small block me-

thod manages memory in 12 kinds of fixed length block sizes. Since the block sizes in this method are prefixed as shown

below, there is no need to specify a maximum size during configuration as in the normal block method.

The block sizes managed by the small block method are the following 12, beginning with the smallest:

24 bytes, 56 bytes, 120 bytes, 248 bytes, 504 bytes, 1,016 bytes, 2,040 bytes, 4,088 bytes, 8,184 byte, 16,376 bytes, 32,760

bytes and 65,528 bytes.

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[[Comparison of Two Management Methods]]

• Processing speed

Generally speaking, the normal block method is faster in memory allocation/deallocation processing than the

small block method.

• Memory usage efficiency

If the difference between the maximum and minimum sizes of memory to be acquired is 8 times or more, the

small block method is higher in memory usage efficiency than the other method.

• Ease of configuration

For the normal block method, it is necessary that the maximum memory size to be acquired be known to the

MR100. However, this is unnecessary for the small block method..

The variable-length memory pool management service calls provided by the MR100 include the following.

• Get a memory block (pget_mpl)

The block size specified by the user is acquired by first rounding it to the optimum block size among the four

kinds of block sizes and then acquiring a memory block of the rounded size from the memory pool

For example, if the user requests 200 bytes of memory, the requested size is rounded to 224 bytes, so that 224

bytes of memory is acquired. If a requested block of memory is successfully acquired, the start address of the ac-

quired memory block and error code E_OK are returned. If memory acquisition fails, error code E_TMOUT is

returned.

200 bytes

TaskA

Memorypool

Rounding

pget_mpl

200 bytes

224 bytes

Figure 4.18 pget_mpl processing

• Release Acquire Variable-size Memory Block (rel_mpl)²⁵

Releases a acquired memory block by pget_mpl service call.

The validity of the address of the memory block to which MR100 is passed as an argument and to release is not judged. Therefore, op-

eration at the time of releasing the memory block which is already released or releasing the memory block which has not been gained is not

guaranteed.

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TaskA

Memorypool

rel_mpl

top of

address

Figure 4.19 rel_mpl processing

• Reference Acquire Variable-size Memory Pool Status (ref_mpl, iref_mpl)

Checks the total free area of the memory pool, and the size of the maximum free area that can immediately be

acquired.

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4.1.11

Time Management Function

The time management function provides system time management, time reading²⁶, time setup²⁷, and the functions of the

alarm handler, which actuates at preselected times, and the cyclic handler, which actuates at preselected time intervals.

The MR100 kernel requires one timer for use as the system clock. There are following time management service calls that

are provided by the MR100 kernel. Note, however, that the system clock is not an essential function of MR100. Therefore,

if the service calls described below and the time management function of the MR100 are unused, a timer does not need to

be occupied for use by MR100.

• Place a task in a finite time wait state by specifying a timeout value

A timeout can be specified in a service call that places the issuing task into WAITING state.²⁸This service call

includes tslp_tsk, twai_flg, twai_sem, tsnd_dtq, trcv_dtq, trcv_mbx, tget_mpf, vtsnd_dtq, and vtrcv_dtq. If the

wait cancel condition is not met before the specified timeout time elapses, the error code E_TMOUT is returned,

and the task is freed from the waiting state. If the wait cancel condition is met, the error code E_OK is returned.

The timeout time should be specified in ms units.

tslp_tsk(50)

E_TMOUT

READY state

WAITING state

Timeout value

tslp_tsk(50)

E_OK

RUNNING state

WAITING state

iwup_tsk

Figure 4.20 Timeout Processing

MR100 guarantees that as stipulated in µITRON specification, timeout processing is not performed until a time

equal to or greater than the specified timeout value elapses. More specifically, timeout processing is performed

with the following timing.

1. If the timeout value is 0 (for only dly_tsk)²⁹

The task times out at the first time tick after the service call is issued.³⁰

2. If the timeout value is a multiple of time tick interval

The timer times out at the (timeout value / time tick interval) + first time tick. For example, if the time

tick interval is 10 ms and the specified timeout value is 40 ms, then the timer times out at the fifth oc-

currence of the time tick. Similarly, if the time tick interval is 5 ms and the specified timeout value is 15

ms, then the timer times out at the fourth occurrence of the time tick.

get_tim service call

set_tim service call

SUSPENDED state is not included.

Strictly, in a dly_tsk service call, the "timeout value" is not correct. "delay time" is correct.

Strictly, in a dly_tsk service call, a timeout is not carried out, but the waiting for delay is canceled and the service call carries out the nor-

mal end.

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3. If the timeout value is not a multiple of time tick interval

The timer times out at the (timeout value / time tick interval) + second time tick. For example, if the time

tick interval is 10 ms and the specified timeout value is 35 ms, then the timer times out at the fifth oc-

currence of the time tick.

• Set System Time (set_tim)

• Reference System Time (get_tim)

The system time indicates an elapsed time from when the system was reset by using 48-bit data. The time is ex-

pressed in ms units.

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4.1.12

Cyclic Handler Function

The cyclic handler is a time event handler that is started every startup cycle after a specified startup phase has elapsed.

The cyclic handler may be started with or without saving the startup phase. In the former case, the cyclic handler is started

relative to the point in time at which it was generated. In the latter case, the cyclic handler is started relative to the point in

time at which it started operating. Figure 4.21 and Figure 4.22 show typical operations of the cyclic handler.

If the startup cycle is shorter than the time tick interval, the cyclic handler is started only once every time tick supplied

(processing equivalent to isig_tim). For example, if the time tick interval is 10 ms and the startup cycle is 3 ms and the cy-

clic handler has started operating when a time tick is supplied, then the cyclic handler is started every time tick.

Start operating

Stop operating

Cyclic handler

created

Activation

phase

Activation

cycle

Activation

cycle

Activation

cycle

Activation

cycle

Handler starts

Handler does

not start

Handler does

not start

Handler does

not start

Figure 4.21 Cyclic handler operation in cases where the activation phase is saved

Start operating

Stop operating

Cyclic handler

created

Activation

phase

Activation

cycle

Activation

cycle

Activation

cycle

Activation

cycle

Handler starts

Handler does

not start

Handler does

not start

Handler does

not start

Figure 4.22 Cyclic handler operation in cases where the activation phase is not saved

• Start Cyclic Handler Operation (sta_cyc, ista_cyc)

Causes the cyclic handler with the specified ID to operational state.

• Stop Cyclic Handler Operation (stp_cyc, istp_cyc)

Causes the cyclic handler with the specified ID to non-operational state.

• Reference Cyclic Handler Status (ref_cyc, iref_cyc)

Refers to the status of the cyclic handler. The operating status of the target cyclic handler and the remaining time

before it starts next time are inspected.

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4.1.13

Alarm Handler Function

The alarm handler is a time event handler that is started only once at a specified time.

Use of the alarm handler makes it possible to perform time-dependent processing. The time of day is specified by a relative

time. Figure 4.23 shows a typical operation of the alarm handler.

Start

Stop

Alarm handler

created

operating

Activation

time

Activation

time

Handler starts

Handler does

not start

Figure 4.23 Typical operation of the alarm handler

• Start Alarm Handler Operation (sta_alm, ista_alm)

Causes the alarm handler with the specified ID to operational state.

• Stop alarm Handler Operation (stp_alm, istp_alm)

Causes the alarm handler with the specified ID to non-operational state.

• Reference Alarm Handler Status (ref_alm, iref_alm)

Refers to the status of the alarm handler. The operating status of the target alarm handler and the remaining time

before it starts are inspected.

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4.1.14

System Status Management Function

• Rotate Task Precedence (rot_rdq, irot_rdq)

This service call establishes the TSS (time-sharing system). That is, if the ready queue is rotated at regular inter-

vals, round robin scheduling required for the TSS is accomplished (See Figure 4.24)

Priority

１

taskA

２

３

taskB

taskD

taskC

taskE

ｎ

taskF

Move the end of the queue

Figure 4.24 Ready Queue Management by rot_rdq Service Call

• Reference task ID in the RUNNING state(get_tid, iget_tid)

References the ID number of the task in the RUNNING state. If issued from the handler, TSK_NONE(=0) is ob-

tained instead of the ID number.

• Lock the CPU (loc_cpu, iloc_cpu)

Places the system into a CPU locked state.

• Unlock the CPU (unl_cpu, iunl_cpu)

Frees the system from a CPU locked state.

• Disable dispatching (dis_dsp)

Places the system into a dispatching disabled state.

• Enable dispatching (ena_dsp)

Frees the system from a dispatching disabled state.

• Reference context (sns_ctx)

Gets the context status of the system.

• Reference CPU state (sns_loc)

Gets the CPU lock status of the system.

• Reference dispatching state (sns_dsp)

Gets the dispatching disable status of the system.

• Reference dispatching pending state (sns_dpn)

Gets the dispatching pending status of the system.

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4.1.15

Interrupt Management Function

The interrupt management function provides a function to process requested external interrupts in real time.

The interrupt management service calls provided by the MR100 kernel include the following:

• Returns from interrupt handler (ret_int)

The ret_int service call activates the scheduler to switch over tasks as necessary when returning from the interrupt

handler.

When using the C language,³¹, this function is automatically called at completion of the handler function. In this

case, therefore, there is no need to invoke this service call.

Figure 4.25 shows an interrupt processing flow. Processing a series of operations from task selection to register restoration

is called a "scheduler.".

TaskA

Interrupt

Save Registers

Handler Processing

#pragma INTHANDLER Declare

(C language)

iwup_tsk

ret_int

Task Selection

TaskB

Restore Registers

Figure 4.25 Interrupt process flow

In the case that the interruput handler is specified by "#pragma INTHANDLER".

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4.1.16

System Configuration Management Function

This function inspects the version information of MR100.

• References Version Information(ref_ver, iref_ver)

The ref_ver service call permits the user to get the version information of MR100. This version information can

be obtained in the standardized format of µITRON specification.

4.1.17

Extended Function (Short Data Queue)

The short data queue is a function outside the scope of µITRON 4.0 Specification. The data queue function handles data as

consisting of 32 bits, whereas the short data queue handles data as consisting of 16 bits. Both behave the same way except

only that the data sizes they handle are different.

• Send to Short Data Queue (vsnd_dtq, vtsnd_dtq)

The data is transmitted to the short data queue. If the short data queue is full of data, the task goes to a data trans-

mission wait state.

• Send to Short Data Queue (vpsnd_dtq, vipsnd_dtq)

The data is transmitted to the short data queue. If the short data queue is full of data, the task returns error code

without going to a data transmission wait state.

• Forced Send to Short Data Queue (vfsnd_dtq, vifsnd_dtq)

The data is transmitted to the short data queue. If the short data queue is full of data, the data at the top of the

short data queue or the oldest data is removed, and the transmitted data is stored at the tail of the short data queue.

• Receive from Short Data Queue(vrcv_dtq, vtrcv_dtq)

The data is retrieved from the short data queue. If the short data queue has no data in it, the task is kept waiting

until data is transmitted to the short data queue.

• Receive from Short Data Queue (vprcv_dtq, viprcv_dtq)

The data is received from the short data queue. If the short data queue has no data in it, the task returns error code

without going to a data reception wait state.

• Reference Short Data Queue Status (vref_dtq, viref_dtq)

Checks to see if there are any tasks waiting for data to be entered in the target short data queue and refers to the

number of the data in the short data queue.

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4.1.18

Extended Function (Reset Function)

The reset function is a function outside the scope of µITRON 4.0 Specification. It initializes the mailbox, data queue, and

memory pool, etc.

• Clear Data Queue Area (vrst_dtq)

Initializes the data queue. If there are any tasks waiting for transmission, they are freed from WAITING state and

the error code EV_RST is returned.

• Clear Mailbox Area (vrst_mbx)

Initializes the mailbox.

• Clear Fixed-size Memory Pool Area (vrst_mpf)

Initializes the fixed-size memory pool. If there are any tasks in WAITING state, they are freed from the WAIT-

ING state and the error code EV_RST is returned.

• Clear Variable-size Memory Pool Area (vrst_mpl)

Initializes the variable length memory pool.

• Clear Short Data Queue Area (vrst_vdtq)

Initializes the short data queue. If there are any tasks waiting for transmission, they are freed from WAITING

state and the error code EV_RST is returned.

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5. Service call reffernce

5.1 Task Management Function

Specifications of the task management function of MR100 are listed in Table 5.1 below. The task description languages in

item No. 4 are those specified in the GUI configurator. They are not output to a configuration file, nor are the MR100 ker-

nel concerned with them.

The task stack permits a section name to be specified for each task individually.

Table 5.1 Specifications of the Task Management Function

No.

Item

Content

Task ID

1-255

Task priority

Maximum number of activation request count 255

TA_HLNG : Tasks written in high-level language

Task attribute

TA_ASM :

Tasks written in assem-bly language

Startup attribute

TA_ACT：

Task stack

Section specifiable

Table 5.2 List of Task Management Function Service Call

Service Call Function System State

No.

act_tsk

iact_tsk

can_act

ican_act

sta_tsk

ista_tsk

ext_tsk

ter_tsk

[S]

Activates task

Cancels task activation request

[B]

Starts task and specifies start code

[S][B]

Exits current task

Forcibly terminates a task

Changes task priority

chg_pri

ichg_pri

get_pri

[S]

Refers to task priority

iget_pri

ref_tsk

iref_tsk

ref_tst

Refers to task state

Refers to task state (simple ver-

sion)

iref_tst

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Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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act_tsk

iact_tsk

Activate task

Activate task (handler only)

[[ C Language API ]]

ER ercd = act_tsk( ID tskid );

ER ercd = iact_tsk( ID tskid );

z Parameters

ID number of the task to be started

ｔskid

z Return parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

act_tsk TSKID

iact_tsk TSKID

z Parameters

TSKID

ID number of the task to be started

z Register contents after service call is issued

Content after service call is issued

Error code

Task ID

[[ Error Code ]]

E_QOVR

Queuing overflow

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[[ Functional description ]]

This service call starts the task indicated by tskid. The started task goes from DORMANT state to READY state or RUN-

NING state.

The following lists the processing performed on startup.

1. Initializes the current priority of the task.

2. Clears the number of queued wakeup requests.

3. Clears the number of suspension requests.

Specifying tskid=TSK_SELF(0) specifies the issuing task itself. The task has passed to it as parameter the extended infor-

mation of it that was specified when the task was created. If TSK_SELF is specified for tskid in non-task context, operation

of this service call cannot be guaranteed.

If the target task is not in DORMANT state, a task activation request by this service call is enqueued. In other words, the

activation request count is incremented by 1. The maximum value of the task activation request is 255. If this limit is ex-

ceeded, the error code E_QOVR is returned.

If TSK_SELF is specified for tskid, the issuing task itself is made the target task.

If this service call is to be issued from task context, use act_tsk; if issued from non-task context, use iact_tsk.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task1( VP_INT stacd )

{

ER ercd;

ercd = act_tsk( ID_task2 );

}

void task2( VP_INT stacd )

{

ext_tsk();

}

<<Example statement in assembly language>>

.INCLUDE

.GLB

mr100.inc

task

task:

PUSH.W

act_tsk

#ID_TASK3

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can_act

ican_act

Cancel task activation request

Cancel task activation request (handler only)

[[ C Language API ]]

ER_UINT actcnt = can_act( ID tskid );

ER_UINT actcnt = ican_act( ID tskid );

z Parameters

tskid

ID number of the task to cancel

z Return Parameters

ER_UINT

actcnt > 0

actcnt < 0

Canceled activation request count

Error code

[[ Assembly language API ]]

.include mr100.inc

can_act TSKID

ican_act TSKID

z Parameters

TSKID

ID number of the task to cancel

z Register contents after service call is issued

name

Content after service call is issued

R2R0

Canceled startup request count or error code

[[ Error code ]]

None

[[ Functional description ]]

This service call finds the number of task activation requests enqueued for the task indicated by tskid, returns the result as a

return parameter, and at the same time invalidates all of the task’s activation requests.

Specifying tskid=TSK_SELF(0) specifies the issuing task itself. If TSK_SELF is specified for tskid in non-task context,

operation of this service call cannot be guaranteed.

This service call can be invoked for a task in DORMANT state as the target task. In that case, the return parameter is 0.

If this service call is to be issued from task context, use can_act; if issued from non-task context, use ican_act.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task1()

{

ER_UINT actcnt;

actcnt = can_act( ID_task2 );

}

void task2()

{

ext_tsk();

}

<<Example statement in assembly language>>

.INCLUDE

.GLB

mr100.inc

task

task:

can_act

#ID_TASK2

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sta_tsk

ista_tsk

Activate task with a start code

Activate task with a start code (handler only)

[[ C Language API ]]

ER ercd = sta_tsk( ID tskid,VP_INT stacd );

ER ercd = ista_tsk ( ID tskid,VP_INT stacd );

z Parameters

tskid

ID number of the target task

Task start code

VP_INT

stacd

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

sta_tsk TSKID,STACD

ista_tsk TSKID,STACD

z Parameters

TSKID

ID number of the target task

STATCD

Task start code

z Register contents after service call is issued

Content after service call is issued

Error code

R3R1

Task start code

ID number of the target task

[[ Error code ]]

E_OBJ

Object status invalid (task indicated by tskid is not DOMANT state)

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[[ Functional description ]]

This service call starts the task indicated by tskid. In other words, it places the specified task from DORMANT state into

READY state or RUNNING state. This service call does not enqueue task activation requests. Therefore, if a task activa-

tion request is issued while the target task is not DORMANT state, the error code E_OBJ is returned to the service call is-

suing task. This service call is effective only when the specified task is in DORMANT state. The task start code stacd is 32

bits long. This task start code is passed as parameter to the activated task.

If a task is restarted that was once terminated by ter_tsk or ext_tsk, the task performs the following as it starts up.

1. Initializes the current priority of the task.

2. Clears the number of queued wakeup requests.

3. Clears the number of nested forcible wait requests.

If this service call is to be issued from task context, use sta_tsk; if issued from non-task context, use ista_tsk.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

ER ercd;

VP_INT stacd = 0;

ercd = sta_tsk( ID_task2, stacd );

}

void task2(VP_INT msg)

{

if(msg == 0)

}

<<Example statement in assembly language>>

.INCLUDE

.GLB

mr100.inc

task

task:

PUSHM

PUSH.W

sta_tsk

R3R1

#ID_TASK4,#100

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ext_tsk

Terminate invoking task

[[ C Language API ]]

ER ercd = ext_tsk();

z Parameters

None

z Return Parameters

Not return from this service call

[[ Assembly language API ]]

.include mr100.inc

ext_tsk

z Parameters

None

z Register contents after service call is issued

Not return from this service call

[[ Error code ]]

Not return from this service call

[[ Functional description ]]

This service call terminates the invoking task. In other words, it places the issuing task from RUNNING state into DOR-

MANT state. However, if the activation request count for the issuing task is 1 or more, the activation request count is

decremented by 1, and processing similar to that of act_tsk or iact_tsk is performed. In that case, the task is placed from

DORMANT state into READY state. The task has its extended information passed to it as parameter when the task starts

up.

This service call is designed to be issued automatically at return from a task.

In the invocation of this service call, the resources the issuing task had acquired previously (e.g., semaphore) are not re-

leased.

This service call can only be used in task context. This service call can be used even in a CPU locked state, but cannot be

used in non-task context.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task(void)

{

ext_tsk();

}

<<Example statement in assembly language>>

.INCLUDE

.GLB

mr100.inc

task

task:

ext_tsk

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ter_tsk

Terminate task

[[ C Language API ]]

ER ercd = ter_tsk( ID tskid );

z Parameters

tskid

ID number of the forcibly terminated task

Terminated normally (E_OK) or error code

z Return Parameters

ercd

[[ Assembly language API ]]

.include mr100.inc

ter_tsk TSKID

z Parameters

TSKID

ID number of the forcibly terminated task

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target task

[[ Error code ]]

E_OBJ

Object status invalid(task indicated by tskid is an inactive state)

E_ILUSE

Service call improperly used task indicated by tskid is the issuing task itself)

[[ Functional description ]]

This service call terminates the task indicated by tskid. If the activation request count of the target task is equal to or greater

than 1, the activation request count is decremented by 1, and processing similar to that of act_tsk or iact_tsk is performed.

In that case, the task is placed from DORMANT state into READY state. The task has its extended information passed to it

as parameter when the task starts up.

If a task specifies its own task ID or TSK_SELF, an E_ILUSE error is returned.

If the specified task was placed into WAITING state and has been enqueued in some waiting queue, the task is dequeued

from it by execution of this service call. However, the semaphore and other resources the specified task had acquired pre-

viously are not released.

If the task indicated by tskid is in DORMANT state, it returns the error code E_OBJ as a return value for the service call.

This service call can only be used in task context, and cannot be used in non-task context.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

ter_tsk( ID_main );

}

<<Example statement in assembly language>>

.INCLUDE

.GLB

mr100.inc

task

task:

PUSH.W

ter_tsk

#ID_TASK3

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chg_pri

ichg_pri

Change task priority

Change task priority(handler only)

[[ C Language API ]]

ER ercd = chg_pri( ID tskid, PRI tskpri );

ER ercd = ichg_pri( ID tskid, PRI tskpri );

z Parameters

tskid

ID number of the target task

Priority of the target task

PRI

tskpri

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

chg_pri TSKID,TSKPRI

ichg_pri TSKID,TSKPRI

z Parameters

TSKID

ID number of the target task

TSKPRI

Priority of the target task

z Register contents after service call is issued

Content after service call is issued

Error code

Priority of the target task

ID number of the target task

[[ Error code ]]

E_OBJ

Object status invalid(task indicated by tskid is an inactive state)

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[[ Functional description ]]

The priority (base priority) of the task specified by tskid is changed to the value indicated by tskpri, and tasks are resched-

uled based on the result of change.

If this service call is executed on a task queued in a ready queue (including a task under execution) or a task in a wait queue

in which tasks are queued in order of priority, the object task is moved to the tail end of the tasks of relevant priority in the

queue. When the same priority as before is specified, the object task is moved to the tail end of that queue also.

The smaller the number, the higher the task priority, with numeral 1 assigned the highest priority. The minimum numeric

value specifiable as priority is 1. Furthermore, the maximum value of priority is the one specified in a configuration file,

and the specifiable range of priority is 1 to 255. For example, if the following statement is written in a configuration file,

system{

stack_size

priority

= 0x100;

= 13;

};

then the specifiable range of priority is 1 to 13.

If TSK_SELF is specified, the priority (base priority) of the issuing task is changed. If TSK_SELF is specified for tskid in a

non-task context, the program operation cannot be guaranteed. If TPRI_INI is specified, the priority of a task is changed to

its startup priority specified when it is generated. The changed task priority (base priority) remains effective until the task

terminates or this service call is reexecuted.

If the task indicated by tskid is in an inactive (DORMANT) state, error code E_OBJ is returned as the service call's return

value.

To use these service calls from task contexts, be sure to use chg_pri; to use them from non-task contexts, be sure to use

ichg_pri.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

chg_pri( ID_task2, 2 );

}

<<Example statement in assembly language>>

.INCLUDE

.GLB

mr100.inc

task

task:

PUSH.W

chg_pri

#ID_TASK3,#1

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get_pri

iget_pri

Reference task priority

Reference task priority(handler only)

[[ C Language API ]]

ER ercd = get_pri( ID tskid, PRI *p_tskpri );

ER ercd = iget_pri( ID tskid, PRI *p_tskpri );

z Parameters

tskid

ID number of the target task

PRI

*p_tskpri

Pointer to the area to which task priority is returned

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

get_pri TSKID

iget_pri TSKID

z Parameters

TSKID

ID number of the target task

z Register contents after service call is issued

Content after service call is issued

Error code

Acquired task priority

[[ Error code ]]

E_OBJ

Object status invalid(task indicated by tskid is an inactive state)

[[ Functional description ]]

This service call returns the priority of the task indicated by tskid to the area indicated by p_tskpri. If TSK_SELF is speci-

fied, the priority of the issuing task itself is acquired. If TSK_SELF is specified for tskid in non-task context, operation of

the service call cannot be guaranteed.

If the task indicated by tskid is in DORMANT state, it returns the error code E_OBJ as a return value for the service call.

If this service call is to be issued from task context, use get_pri; if issued from non-task context, use iget_pri.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

PRI p_tskpri;

ER ercd;

ercd = get_pri( ID_task2, &p_tskpri );

}

<<Example statement in assembly language>>

.INCLUDE

.GLB

mr100.inc

task

task:

get_pri

#ID_TASK2

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ref_tsk

iref_tsk

Reference task status

Reference task status (handler only)

[[ C Language API ]]

ER ercd = ref_tsk( ID tskid, T_RTSK *pk_rtsk );

ER ercd = iref_tsk( ID tskid, T_RTSK *pk_rtsk );

z Parameters

tskid

ID number of the target task

T_RTSK

*pk_rtsk

Pointer to the packet to which task status is returned

z Return Parameters

ercd

Terminated normally (E_OK)

Contents of pk_rtsk

typedef struct

STAT tskstat

t_rtsk{

Task status

Current priority of task

Base priority of task

Cause of wait

PRI

STAT

tskpri

+10

+14

+18

+22

tskbpri

tskwait

wobjid

lefttmo

actcnt

Waiting object ID

TMO

Left time before timeout

Number of queued activation request counts

Number of queued wakeup request counts

Number of nested suspension request counts

UINT

} T_RTSK;

wupcnt

suscnt

[[ Assembly language API ]]

.include mr100.inc

ref_tsk TSKID, PK_RTSK

iref_tsk TSKID, PK_RTSK

z Parameters

TSKID

ID number of the target task

PK_RTSK

Pointer to the packet to which task status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target task

Pointer to the packet to which task status is returned

[[ Error code ]]

None

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[[ Functional description ]]

This service call inspects the status of the task indicated by tskid and returns the current information on that task to the area

pointed to by pk_rtsk as a return parameter. If TSK_SELF is specified, the status of the issuing task itself is inspected. If

TSK_SELF is specified for tskid in non-task context, operation of the service call cannot be guaranteed.

‹tskstat (task status)

tskstat has one of the following values returned to it depending on the status of the specified task.

•

TTS_RUN(0x0001)

TTS_RDY(0x0002)

TTS_WAI(0x0004)

TTS_SUS(0x0008)

TTS_WAS(0x000C)

TTS_DMT(0x0010)

RUNNING state

READY state

WAITING state

SUSPENDED state

WAITING-SUSPENDED state

DORMANT state

‹tskpri (current priority of task)

tskpri has the current priority of the specified task returned to it. If the task is in DOMANT state, tskpri is

indeterminate.

‹tskbpri (base priority of task)

tskbpri has the base priority of the specified task returned to it. If the task is in DOMANT state, tskbpri

is indeterminate.

‹tskwait (cause of wait)

If the target task is in a wait state, one of the following causes of wait is returned. The values of the re-

spective causes of wait are listed below. If the task status is other than a wait state (TTS_WAI or

TTS_WAS), tskwait is indeterminate.

•

TTW_SLP (0x0001)

TTW_DLY (0x0002)

TTW_SEM (0x0004)

TTW_FLG (0x0008)

TTW_SDTQ(0x0010)

TTW_RDTQ(0x0020)

TTW_MBX (0x0040)

TTW_MPF (0x2000)

Kept waiting by slp_tsk or tslp_tsk

Kept waiting by dly_tsk

Kept waiting by wai_sem or twai_sem

Kept waiting by wai_flg or twai_flg

Kept waiting by snd_dtq or tsnd_dtq

Kept waiting by rcv_dtq or trcv_dtq

Kept waiting by rcv_mbx or trcv_mbx

Kept waiting by get_mpf or tget_mpf

TTW_VSDTQ (0x4000) Kept waiting by vsnd_dtq or vtsnd_dtq³²

TTW_VRDTQ(0x8000) Kept waiting by vrcv_dtq or vtrcv_dtq

‹wobjid (waiting object ID)

If the target task is in a wait state (TTS_WAI or TTS_WAS), the ID of the waiting target object is re-

turned. Otherwise, wobjid is indeterminate.

‹lefttmo(left time before timeout)

If the target task has been placed in WAITING state (TTS_WAI or TTS_WAS) by other than dly_tsk,

the left time before it times out is returned. If the task is kept waiting perpetually, TMO_FEVR is re-

turned. Otherwise, lefttmo is indeterminate.

‹actcnt(task activation request)

The number of currently queued task activation request is returned.

‹wupcnt (wakeup request count)

The number of currently queued wakeup requests is returned. If the task is in DORMANT state, wupcnt

is indeterminate.

‹suscnt (suspension request count)

The number of currently nested suspension requests is returned. If the task is in DORMANT state,

suscnt is indeterminate.

If this service call is to be issued from task context, use ref_tsk; if issued from non-task context, use iref_tsk.

TTW_VSDTQ and TTW_VRDTQ are the causes of wait outside the scope of µITRON 4.0 Specification.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RTSK rtsk;

ER ercd;

ercd = ref_tsk( ID_main, &rtsk );

}

<<Example statement in assembly language>>

_refdata:

.blkb 26

.include mr100.inc

.GLB

task:

task

PUSH.W

PUSH.L

ref_tsk

#TSK_SELF,#_refdata

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ref_tst

iref_tst

Reference task status (simplified version)

Reference task status (simplified version, handler

only)

[[ C Language API ]]

ER ercd = ref_tst( ID tskid, T_RTST *pk_rtst );

ER ercd = iref_tst( ID tskid, T_RTST *pk_rtst );

z Parameters

tskid

ID number of the target task

T_RTST

*pk_rtst

Pointer to the packet to which task status is returned

z Return Parameters

ercd

Terminated normally (E_OK)

Contents of pk_rtsk

typedef struct

STAT tskstat

tskwait

t_rtst{

Task status

Cause of wait

STAT

} T_RTST;

[[ Assembly language API ]]

.include mr100.inc

ref_tst TSKID, PK_RTST

iref_tst TSKID, PK_RTST

z Parameters

TSKID

ID number of the target task

PK_RTST

Pointer to the packet to which task status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target task

Pointer to the packet to which task status is returned

[[ Error code ]]

None

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[[ Functional description ]]

This service call inspects the status of the task indicated by tskid and returns the current information on that task to the area

pointed to by pk_rtst as a return value. If TSK_SELF is specified, the status of the issuing task itself is inspected. If

TSK_SELF is specified for tskid in non-task context, operation of the service call cannot be guaranteed.

‹tskstat (task status)

tskstat has one of the following values returned to it depending on the status of the specified task.

•

TTS_RUN(0x0001)

TTS_RDY(0x0002)

TTS_WAI(0x0004)

TTS_SUS(0x0008)

TTS_WAS(0x000C)

TTS_DMT(0x0010)

RUNNING state

READY state

WAITING state

SUSPENDED state

WAITING-SUSPENDED state

DORMANT state

‹tskwait (cause of wait)

If the target task is in a wait state, one of the following causes of wait is returned. The values of the respective

causes of wait are listed below. If the task status is other than a wait state (TTS_WAI or TTS_WAS), tskwait is

indeterminate.

•

TTW_SLP (0x0001)

TTW_DLY (0x0002)

TTW_SEM (0x0004)

TTW_FLG (0x0008)

TTW_SDTQ(0x0010)

TTW_RDTQ(0x0020)

TTW_MBX (0x0040)

TTW_MPF (0x2000)

Kept waiting by slp_tsk or tslp_tsk

Kept waiting by dly_tsk

Kept waiting by wai_sem or twai_sem

Kept waiting by wai_flg or twai_flg

Kept waiting by snd_dtq or tsnd_dtq

Kept waiting by rcv_dtq or trcv_dtq

Kept waiting by rcv_mbx or trcv_mbx

Kept waiting by get_mpf or tget_mpf

TTW_VSDTQ (0x4000) Kept waiting by vsnd_dtq or vtsnd_dtq³³

TTW_VRDTQ(0x8000) Kept waiting by vrcv_dtq or vtrcv_dtq

If this service call is to be issued from task context, use ref_tst; if issued from non-task context, use iref_tst.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RTST rtst;

ER ercd;

ercd = ref_tst( ID_main, &rtst );

}

<<Example statement in assembly language>>

_refdata:

.blkb 4

.include mr100.inc

.GLB

task:

task

PUSH.W

PUSH.L

ref_tst

#ID_TASK2,#_refdata

TTW_VSDTQ and TTW_VRDTQ are the causes of wait outside the scope of µITRON 4.0 Specification.

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5.2 Task Dependent Synchronization Function

Specifications of the task-dependent synchronization function are listed in below.

Table 5.3 Specifications of the Task Dependent Synchronization Function

No.

Item

Content

255

Maximum value of task wakeup request count

Maximum number of nested forcible task wait requests count

Table 5.4 List of Task Dependent Synchronization Service Call

No.

Service Call

Function

System State

slp_tsk

[S][B]

[S]

[S][B]

[B]

Puts task to sleep

Puts task to sleep (with timeout)

tslp_tsk

wup_tsk

iwup_tsk

can_wup

ican_wup

rel_wai

[S][B]

Releases task from waiting

Suspends task

irel_wai

sus_tsk

isus_tsk

rsm_tsk

irsm_tsk

frsm_tsk

ifrsm_tsk

dly_tsk

[S][B]

[S]

Wakes up task

Cancels wakeup request

Delays task

[S][B]

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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slp_tsk

tslp_tsk

Put task to sleep

Put task to sleep (with timeout)

[[ C Language API ]]

ER ercd = slp_tsk();

ER ercd = tslp_tsk( TMO tmout );

z Parameters

z slp_tsk

None

z tslp_tsk

TMO

tmout

Timeout value

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

slp_tsk

tslp_tsk TMO

z Parameters

TMO

Timeout value

z Register contents after service call is issued

tslp_tsk

Content after service call is issued

Error code

R6R4

Timeout value

slp_tsk

Content after service call is issued

Error code

[[ Error code ]]

E_TMOUT

E_RLWAI

Timeout

Forced release from waiting

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[[ Functional description ]]

This service call places the issuing task itself from RUNNING state into sleeping wait state. The task placed into WAIT-

ING state by execution of this service call is released from the wait state in the following cases:

‹When a task wakeup service call is issued from another task or an interrupt

The error code returned in this case is E_OK.

‹When a forcible awaking service call is issued from another task or an interrupt

The error code returned in this case is E_RLWAI.

‹When the first time tick occurred after tmout elapsed (for tslp_tsk)

The error code returned in this case is E_TMOUT.

If the task receives sus_tsk issued from another task while it has been placed into WAITING state by this service call, it

goes to WAITING-SUSPENDED state. In this case, even when the task is released from WAITING state by a task wakeup

service call, it still remains in SUSPENDED state, and its execution cannot be resumed until rsm_tsk is issued.

The service call tslp_tsk may be used to place the issuing task into sleeping state for a given length of time by specifying

tmout in a parameter to it. The parameter tmout is expressed in ms units. For example, if this service call is written as

tslp_tsk(10);, then the issuing task is placed from RUNNING state into WAITING state for a period of 10 ms. If specified

as tmout =TMO_FEVR(–1), the task will be kept waiting perpetually, with the service call operating the same way as

slp_tsk.

The values specified for tmout must be within (0x7FFFFFFF-time tick value). If any value exceeding this limit is specified,

operation of the service call cannot be guaranteed.

This service call can only be issued from task context, and cannot be issued from non-task context.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

if( slp_tsk() != E_OK )

error(“Forced wakeup\n”);

if( tslp_tsk( 10 ) == E_TMOUT )

error(“time out\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

slp_tsk

PUSHM

tslp_tsk

R6R4

#TMO_FEVR

PUSHM

tslp_tsk

R6R4

#100

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wup_tsk

iwup_tsk

Wakeup task

Wakeup task (handler only)

[[ C Language API ]]

ER ercd = wup_tsk( ID tskid );

ER ercd = iwup_tsk( ID tskid );

z Parameters

tskid

ID number of the target task

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

wup_tsk TSKID

iwup_tsk TSKID

z Parameters

TSKID

ID number of the target task

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target task

[[ Error code ]]

E_OBJ

Object status invalid(task indicated by tskid is an inactive state)

Queuing overflow

E_QOVR

[[ Functional description ]]

If the task specified by tskid has been placed into WAITING state by slp_tsk or tslp_tsk, this service call wakes up the task

from WAITING state to place it into READY or RUNNING state. Or if the task specified by tskid is in WAIT-

ING-SUSPENDED state, this service call awakes the task from only the sleeping state so that the task goes to SUS-

PENDED state.

If a wakeup request is issued while the target task remains in DORMANT state, the error code E_OBJ is returned to the

service call issuing task. If TSK_SELF is specified for tskid, it means specifying the issuing task itself. If TSK_SELF is

specified for tskid in non-task context, operation of the service call cannot be guaranteed.

If this service call is issued to a task that has not been placed in WAITING state or in WAITING-SUSPENDED state by

execution of slp_tsk or tslp_tsk, the wakeup request is accumulated. More specifically, the wakeup request count for the

target task to be awakened is incremented by 1, in which way wakeup requests are accumulated.

The maximum value of the wakeup request count is 255. If while the wakeup request count = 255 a new wakeup request is

generated exceeding this limit, the error code E_QOVR is returned to the task that issued the service call, with the wakeup

request count left intact.

If this service call is to be issued from task context, use wup_tsk; if issued from non-task context, use iwup_tsk.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

if( wup_tsk( ID_main ) != E_OK )

printf(“Can’t wakeup main()\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

wup_tsk

#ID_TASK1

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can_wup

ican_wup

Cancel wakeup request

Cancel wakeup request (handler only)

[[ C Language API ]]

ER_UINT wupcnt = can_wup( ID tskid );

ER_UINT wupcnt = icaｎ_wup( ID tskid );

z Parameters

tskid

ID number of the target task

z Return Parameters

ER_UINT

wupcnt > 0

wupcnt <0

Canceled wakeup request count

Error code

[[ Assembly language API ]]

.include mr100.inc

can_wup TSKID

ican_wup TSKID

z Parameters

TSKID

ID number of the target task

z Register contents after service call is issued

Content after service call is issued

R2R0

Error code,Canceled wakeup request count

[[ Error code ]]

E_OBJ

Object status invalid(task indicated by tskid is an inactive state)

[[ Functional description ]]

This service call clears the wakeup request count of the target task indicated by tskid to 0. This means that because the tar-

get task was in either WAITING state nor WAITING-SUSPENDED state when an attempt was made to wake it up by

wup_tsk or iwup_tsk before this service call was issued, the attempt resulted in only accumulating wakeup requests and this

service call clears all of those accumulated wakeup requests.

Furthermore, the wakeup request count before being cleared to 0 by this service call, i.e., the number of wakeup requests

that were issued in vain (wupcnt) is returned to the issuing task. If a wakeup request is issued while the target task is in

DORMANT state, the error code E_OBJ is returned. If TSK_SELF is specified for tskid, it means specifying the issuing

task itself. If TSK_SELF is specified for tskid in non-task context, operation of this service call cannot be guaranteed.

If this service call is to be issued from task context, use can_wup; if issued from non-task context, use ican_wup.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

ER_UINT wupcnt;

wupcnt = can_wup(ID_main);

if( wup_cnt > 0 )

printf(“wupcnt = %d\n”,wupcnt);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

can_wup

#ID_TASK3

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rel_wai

irel_wai

Release task from waiting

Release task from waiting (handler only)

[[ C Language API ]]

ER ercd = rel_wai( ID tskid );

ER ercd = irel_wai( ID tskid );

z Parameters

tskid

ID number of the target task

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

rel_wai TSKID

irel_wai TSKID

z Parameters

TSKID

ID number of the target task

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target task

[[ Error code ]]

E_OBJ

Object status invalid(task indicated by tskid is not an wait state)

[[ Functional description ]]

This service call forcibly release the task indicated by tskid from waiting (except SUSPENDED state) to place it into

READY or RUNNING state. The forcibly released task returns the error code E_RLWAI. If the target task has been en-

queued in some waiting queue, the task is dequeued from it by execution of this service call.

If this service call is issued to a task in WAITING-SUSPENDED state, the target task is released from WAITING state and

goes to SUSPENDED state.³⁴

If the target task is not in WAITING state, the error code E_OBJ is returned. This service call forbids specifying the issuing

task itself for tskid.

If this service call is to be issued from task context, use rel_wai; if issued from non-task context, use irel_wai.

This means that tasks cannot be resumed from SUSPENDED state by this service call. Only the rsm_tsk, irsm_tsk, frsm_tsk, and

ifrsm_tsk service calls can release them from SUSPENDED state.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

if( rel_wai( ID_main ) != E_OK )

error(“Can’t rel_wai main()\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

rel_wai

#ID_TASK2

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sus_tsk

isus_tsk

Suspend task

Suspend task (handler only)

[[ C Language API ]]

ER ercd = sus_tsk( ID tskid );

ER ercd = isus_tsk( ID tskid );

z Parameters

tskid

ID number of the target task

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

sus_tsk TSKID

isus_tsk TSKID

z Parameters

TSKID

ID number of the target task

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target task

[[ Error code ]]

E_OBJ

Object status invalid(task indicated by tskid is an inactive state)

Queuing overflow

E_QOVR

[[ Functional description ]]

This service call aborts execution of the task indicated by tskid and places it into SUSPENDED state. Tasks are resumed

from this SUSPENDED state by the rsm_tsk, irsm_tsk, frsm_tsk, or ifrsm_tsk service call. If the task indicated by tskid is

in DORMANT state, it returns the error code E_OBJ as a return value for the service call.

The maximum number of suspension requests by this service call that can be nested is 1. If this service call is issued to a

task which is already in SUSPENDED state, the error code E_QOVR is returned.

This service call forbids specifying the issuing task itself for tskid.

If this service call is to be issued from task context, use sus_tsk; if issued from non-task context, use isus_tsk.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

if( sus_tsk( ID_main ) != E_OK )

printf(“Can’t suspend task main()\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

sus_tsk

#ID_TASK2

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rsm_tsk

irsm_tsk

frsm_tsk

ifrsm_tsk

Resume suspended task

Resume suspended task(handler only)

Forcibly resume suspended task

Forcibly resume suspended task(handler only)

[[ C Language API ]]

ER ercd = rsm_tsk( ID tskid );

ER ercd = irsm_tsk( ID tskid );

ER ercd = frsm_tsk( ID tskid );

ER ercd = ifrsm_tsk( ID tskid );

z Parameters

tskid

ID number of the target task

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

rsm_tsk TSKID

irsm_tsk TSKID

frsm_tsk TSKID

ifrsm_tsk TSKID

z Parameters

TSKID

ID number of the target task

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target task

[[ Error code ]]

E_OBJ

Object status invalid(task indicated by tskid is not a forcible wait state)

[[ Functional description ]]

If the task indicated by tskid has been aborted by sus_tsk, this service call resumes the target task from SUSPENDED state.

In this case, the target task is linked to behind the tail of the ready queue. In the case of frsm_tsk and ifrsm_tsk, the task is

forcibly resumed from SUSPENDED state.

If a request is issued while the target task is not in SUSPENDED state (including DORMANT state), the error code E_OBJ

is returned to the service call issuing task.

The rsm_tsk, irsm_tsk, frsm_tsk, and ifrsm_tsk service calls each operate the same way, because the maximum number of

forcible wait requests that can be nested is 1.

If this service call is to be issued from task context, use rsm_tsk/frsm_tsk; if issued from non-task context, use

irsm_tsk/ifrsm_tsk.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task1()

{

if( rsm_tsk( ID_main ) != E_OK )

printf(“Can’t resume main()\n”);

if(frsm_tsk( ID_task2 ) != E_OK )

printf(“Can’t forced resume task2()\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

rsm_tsk

#ID_TASK2

PUSH.W

frsm_tsk

#ID_TASK1

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dly_tsk

Delay task

[[ C Language API ]]

ER ercd = dly_tsk(RELTIM dlytim);

z Parameters

RELTIM

dlytim

Delay time

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

dly_tsk RELTIM

z Parameters

RELTIM

Delay time

z Register contents after service call is issued

Content after service call is issued

Error code

R6R4

Delay time

[[ Error code ]]

E_RLWAI

Forced release from waiting

[[ Functional description ]]

This service call temporarily stops execution of the issuing task itself for a duration of time specified by dlytim to place the

task from RUNNING state into WAITING state. In this case, the task is released from the WAITING state at the first time

tick after the time specified by dlytim has elapsed. Therefore, if specified dlytim = 0, the task is placed into WAITING state

briefly and then released from the WAITING state at the first time tick.

The task placed into WAITING state by invocation of this service call is released from the WAITING state in the following

cases. Note that when released from WAITING state, the task that issued the service call is removed from the timeout

waiting queue and linked to a ready queue.

‹When the first time tick occurred after dlytim elapsed

The error code returned in this case is E_OK.

‹When the rel_wai or irel_wai service call is issued before dlytim elapses

The error code returned in this case is E_RLWAI.

Note that even when the wup_tsk or iwup_tsk service call is issued during the delay time, the task is not released from

WAITING state.

The delay time dlytim is expressed in ms units. Therefore, if specified as dly_tsk(50);, the issuing task is placed from

RUNNING state into a delayed wait state for a period of 50 ms.

The values specified for dlytim must be within (0x7FFFFFFF- time tick value). If any value exceeding this limit is speci-

fied, the service call may not operate correctly.

This service call can be issued only from task context. It cannot be issued from non-task context.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

if( dly_tsk() != E_OK )

error(“Forced wakeup\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSHM

dly_tsk

R6R4

#500

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5.3 Synchronization & Communication Function (Semaphore)

Specifications of the semaphore function of MR100 are listed in Table 5.5.

Table 5.5 Specifications of the Semaphore Function

No.

Item

Content

Semaphore ID

1-255

Maximum number of resources

1-65535

TA_FIFO:

TA_TPRI:

Tasks enqueued in order of FIFO

Tasks enqueued in order of priority

Semaphore attribute

Table 5.6 List of Semaphore Function Service Call

Function

No.

Service Call

System State

sig_sem [S][B]

isig_sem [S][B]

wai_sem [S][B]

pol_sem [S][B]

ipol_sem

twai_sem [S]

ref_sem

iref_sem

Releases semaphore resource

Acquires semaphore resource

Acquires semaphore resource(polling)

Acquires semaphore resource(with timeout)

References semaphore status

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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sig_sem

isig_sem

Release semaphore resource

Release semaphore resource (handler only)

[[ C Language API ]]

ER ercd = sig_sem( ID semid );

ER ercd = isig_sem( ID semid );

z Parameters

semid

Semaphore ID number to which returned

Terminated normally (E_OK) or error code

z Return Parameters

ercd

[[ Assembly language API ]]

.include mr100.inc

sig_sem SEMID

isig_sem SEMID

z Parameters

SEMID

Semaphore ID number to which returned

z Register contents after service call is issued

Content after service call is issued

Error code

Semaphore ID number to which returned

[[ Error code ]]

E_QOVR

Queuing overflow

[[ Functional description ]]

This service call releases one resource to the semaphore indicated by semid.

If tasks are enqueued in a waiting queue for the target semaphore, the task at the top of the queue is placed into READY

state. Conversely, if no tasks are enqueued in that waiting queue, the semaphore resource count is incremented by 1. If an

attempt is made to return resources (sig_sem or isig_sem service call) causing the semaphore resource count value to ex-

ceed the maximum value specified in a configuration file (maxsem), the error code E_QOVR is returned to the service call

issuing task, with the semaphore count value left intact.

If this service call is to be issued from task context, use sig_sem; if issued from non-task context, use isig_sem.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

if( sig_sem( ID_sem ) == E_QOVR )

error(“Overflow\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

sig_sem

#ID_SEM2

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wai_sem

pol_sem

ipol_sem

twai_sem

Acquire semaphore resource

Acquire semaphore resource (polling)

Acquire semaphore resource (polling, handler only)

Acquire semaphore resource(with timeout)

[[ C Language API ]]

ER ercd = wai_sem( ID semid );

ER ercd = pol_sem( ID semid );

ER ercd = ipol_sem( ID semid );

ER ercd = twai_sem( ID semid, TMO tmout );

z Parameters

semid

Semaphore ID number to be acquired

Timeout value (for twai_sem)

TMO

tmout

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

wai_sem SEMID

pol_sem SEMID

ipol_sem SEMID

twai_sem SEMID,TMO

z Parameters

SEMID

Semaphore ID number to be acquired

TMO

Timeout value(twai_sem)

z Register contents after service call is issued

wai_sem,pol_sem,ipol_sem

Content after service call is issued

Error code

Semaphore ID number to be acquired

twai_sem

name

Content after service call is issued

Error code

Semaphore ID number to be acquired

Timeout value

R6R4

[[ Error code ]]

E_RLWAI

Forced release from waiting

Polling failure or timeout

E_TMOUT

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[[ Functional description ]]

This service call acquires one semaphore resource from the semaphore indicated by semid.

If the semaphore resource count is equal to or greater than 1, the semaphore resource count is decremented by 1, and the

service call issuing task continues execution. On the other hand, if the semaphore count value is 0, the wai_sem or

twai_sem service call invoking task is enqueued in a waiting queue for that semaphore. If the attribute of the semaphore

semid is TA_TFIFO, the task is enqueued in order of FIFO; if TA_TPRI, the task is enqueued in order of priority. For the

pol_sem and ipol_sem service calls, the task returns immediately and responds to the call with the error code E_TMOUT.

For the twai_sem service call, specify a wait time for tmout in ms units. The values specified for tmout must be within

(0x7FFFFFFF-time tick value). If any value exceeding this limit is specified, operation of the service call cannot be guar-

anteed. If TMO_POL=0 is specified for tmout, it means specifying 0 as a timeout value, in which case the service call op-

erates the same way as pol_sem. Furthermore, if specified as tmout=TMO_FEVR(–1), it means specifying an infinite wait,

in which case the service call operates the same way as wai_sem.

The task placed into WAITING state by execution of the wai_sem or twai_sem service call is released from the WAITING

state in the following cases:

‹When the sig_sem or isig_sem service call is issued before the tmout time elapses, with

task-awaking conditions thereby satisfied

The error code returned in this case is E_OK.

‹When the first time tick occurred after tmout elapsed while task-awaking conditions remain un-

satisfied

The error code returned in this case is E_TMOUT.

‹When the task is forcibly released from WAITING state by the rel_wai or irel_wai service call is-

sued from another task or a handler

The error code returned in this case is E_RLWAI.

If this service call is to be issued from task context, use wai_sem, twai_sem, or pol_sem; ; if issued from non-task context,

use ipol_sem.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

if( wai_sem( ID_sem ) != E_OK )

printf(“Forced wakeup\n”);

if( pol_sem( ID_sem ) != E_OK )

printf(“Timeout\n”);

if( twai_sem( ID_sem, 10 ) != E_OK )

printf(“Forced wakeup or Timeout”n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

pol_sem

#ID_SEM1

PUSH.W

wai_sem

PUSH.W

PUSH.L

twai_sem

#ID_SEM2

R6R4

#ID_SEM3,300

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ref_sem

iref_sem

Reference semaphore status

Reference semaphore status (handler only)

[[ C Language API ]]

ER ercd = ref_sem( ID semid, T_RSEM *pk_rsem );

ER ercd = iref_sem( ID semid, T_RSEM *pk_rsem );

z Parameters

semid

ID number of the target semaphore

T_RSEM

*pk_rsem

Pointer to the packet to which semaphore status is returned

z Return Parameters

ercd

Terminated normally (E_OK)

T_RSEM

*pk_rsem

Pointer to the packet to which semaphore status is returned

Contents of pk_rsem

typedef struct

ID wtskid

semcnt

t_rsem{

ID number of the task at the head of the semaphore’s wait queue

Current semaphore resource count

UINT

} T_RSEM;

[[ Assembly language API ]]

.include mr100.inc

ref_sem SEMID, PK_RSEM

iref_sem SEMID, PK_RSEM

z Parameters

SEMID

ID number of the target semaphore

PK_RSEM

Pointer to the packet to which semaphore status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target semaphore

Pointer to the packet to which semaphore status is returned

[[ Error code ]]

None

[[ Functional description ]]

This service call returns various statuses of the semaphore indicated by semid.

‹wtskid

Returned to wtskid is the ID number of the task at the head of the semaphore’s wait queue (the next task to be

dequeued). If no tasks are kept waiting, TSK_NONE is returned.

‹semcnt

Returned to semcnt is the current semaphore resource count.

If this service call is to be issued from task context, use ref_sem; if issued from non-task context, use iref_sem.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RSEM rsem;

ER ercd;

ercd = ref_sem( ID_sem1, &rsem );

}

<<Example statement in assembly language>>

_ refsem:

.blkb 6

.include mr100.inc

.GLB

task:

task

PUSH.W R2

PUSH.L A1

ref_sem #ID_SEM1,#_refsem

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5.4 Synchronization & Communication Function (Eventflag)

Specifications of the eventflag function of MR100 are listed in Table 5.7.

Table 5.7 Specifications of the Eventflag Function

No.

Item

Content

Event0flag ID

1-255

Number of bits comprising eventflag

Eventflag attribute

32 bits

TA_TFIFO:

TA_TPRI:

TA_WSGL:

TA_WMUL:

TA_CLR:

Waiting tasks enqueued in order of FIFO

Waiting tasks enqueued in order of priority

Multiple tasks cannot be kept waiting

Multiple tasks can be kept waiting

Bit pattern cleared when waiting task is released

Table 5.8 List of Eventflag Function Service Call

No.

Service Call

Function

System State

set_flg

iset_flg

clr_flg

[S][B]

Sets eventflag

Clears eventflag

iclr_flg

wai_flg

pol_flg

ipol_flg

twai_flg

ref_flg

[S][B]

[S]

Waits for eventflag

Waits for eventflag (polling)

[S]

Waits for eventflag (with timeout)

References eventflag status

iref_flg

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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set_flg

iset_flg

Set eventflag

Set eventflag (handler only)

[[ C Language API ]]

ER ercd = set_flg( ID flgid, FLGPTN setptn );

ER ercd = iset_flg( ID flgid, FLGPTN setptn );

z Parameters

flgid

ID number of the eventflag to be set

Bit pattern to be set

FLGPTN

setptn

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

set_flg FLGID,SETPTN

iset_flg FLGID,SETPTN

z Parameters

FLGID

ID number of the eventflag to be set

SETPTN

Bit pattern to be set

z Register contents after service call is issued

Content after service call is issued

Error code

Eventflag ID number

Bit pattern to be set

[[ Error code ]]

None

[[ Functional description ]]

Of the 32-bit eventflag indicated by flgid, this service call sets the bits indicated by setptn. In other words, the value of the

eventflag indicated by flgid is OR’d with setptn. If the alteration of the eventflag value results in task-awaking conditions

for a task that has been kept waiting for the eventflag by the wai_flg or twai_flg service call becoming satisfied, the task is

released from WAITING state and placed into READY or RUNNING state.

Task-awaking conditions are evaluated sequentially beginning with the top of the waiting queue. If TA_WMUL is specified

as an eventflag attribute, multiple tasks kept waiting for the eventflag can be released from WAITING state at the same

time by one set_flg or iset_flg service call issued. Furthermore, if TA_CLR is specified for the attribute of the target event-

flag, all bit patterns of the eventflag are cleared, with which processing of the service call is terminated.

If all bits specified in setptn are 0, no operation will be performed for the target eventflag, in which case no errors are as-

sumed, however.

If this service call is to be issued from task context, use set_flg; if issued from non-task context, use iset_flg.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task(void)

{

set_flg( ID_flg,(FLGPTN)0xff000000 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

PUSH.L

set_flg

#ID_FLG3,#0ff000000H

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clr_flg

iclr_flg

Clear eventflag

Clear eventflag (handler only)

[[ C Language API ]]

ER ercd = clr_flg( ID flgid, FLGPTN clrptn );

ER ercd = iclr_flg( ID flgid, FLGPTN clrptn );

z Parameters

flgid

ID number of the eventflag to be cleared

Bit pattern to be cleared

FLGPTN

clrptn

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

clr_flg FLGID,CLRPTN

iclr_flg FLGID,CLRPTN

z Parameters

FLGID

ID number of the eventflag to be cleared

CLRPTN

Bit pattern to be cleared

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the eventflag to be cleared

Bit pattern to be cleared

[[ Error code ]]

None

[[ Functional description ]]

Of the 32-bit eventflag indicated by flgid, this service call clears the bits whose corresponding values in clrptn are 0. In

other words, the eventflag bit pattern indicated by flgid is updated by AND’ing it with clrptn. If all bits specified in clrptn

are 1, no operation will be performed for the target eventflag, in which case no errors are assumed, however.

If this service call is to be issued from task context, use clr_flg; if issued from non-task context, use iclr_flg.³⁵

When iclr_flg is issued from interruption generated during set_flg or iset_flg service call execution, the indivisibility of a service call is not

guaranteed. That is, if there are two or more tasks which are waiting by the same bit pattern in the waiting queue, some tasks are released

and some tasks are not released by the timing of interruption generating.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task(void)

{

clr_flg( ID_flg,(FLGPTN) 0xf0f0f0f0);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

PUSH.L

clr_flg

#ID_FLG1,#0f0f0f0f0H

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wai_flg

pol_flg

ipol_flg

twai_flg

Wait for eventflag

Wait for eventflag(polling)

Wait for eventflag(polling, handler only)

Wait for eventflag(with timeout)

[[ C Language API ]]

ER ercd = wai_flg( ID flgid, FLGPTN waiptn, MODE wfmode, FLGPTN *p_flgptn );

ER ercd = pol_flg( ID flgid, FLGPTN waiptn, MODE wfmode, FLGPTN *p_flgptn );

ER ercd = ipol_flg( ID flgid, FLGPTN waiptn, MODE wfmode, FLGPTN *p_flgptn );

ER ercd = twai_flg( ID flgid, FLGPTN waiptn, MODE wfmode, FLGPTN *p_flgptn,

TMO tmout );

z Parameters

flgid

ID number of the eventflag waited for

FLGPTN

MODE

FLGPTN

TMO

waiptn

wfmode

*p_flgptn

tmout

Wait bit pattern

Wait mode

Pointer to the area to which bit pattern is returned when released from wait

Timeout value (for twai_flg)

z Return Parameters

ercd

Terminated normally (E_OK) or error code

FLGPTN

*p_flgptn

Pointer to the area to which bit pattern is returned when released from wait

[[ Assembly language API ]]

.include mr100.inc

wai_flg FLGID, WAIPTN, WFMODE

pol_flg FLGID, WAIPTN, WFMODE

ipol_flg FLGID, WAIPTN, WFMODE

twai_flg FLGID, WAIPTN, WFMODE, TMO

z Parameters

FLGID

ID number of the eventflag waited for

WAIPTN

WFMODE

TMO

Wait bit pattern

Wait mode

Timeout value (for twai_flg)

z Register contents after service call is issued

wai_sem,pol_sem,ipol_sem

Content after service call is issued

Error code

R3R1

bit pattern is returned when released from wait

ID number of the eventflag waited for

Wait bit pattern

twai_sem

Content after service call is issued

Error code

R3R1

bit pattern is returned when released from wait

ID number of the eventflag waited for

Timeout value

R6R4

Wait bit pattern

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[[ Error code ]]

E_RLWAI

Forced release from waiting

E_TMOUT

Polling failure or timeout or timed out

E_ILUSE

Service call improperly used (Tasks present waiting for TA_WSGL attribute eventflag)

[[ Functional description ]]

This service call waits until the eventflag indicated by flgid has its bits specified by waiptn set according to

task-awaking conditions indicated by wfmode. Returned to the area pointed to by p_flgptn is the eventflag bit pat-

tern at the time the task is released from WAITING state.

If the target eventflag has the TA_WSGL attribute and there are already other tasks waiting for the eventflag, the

error code E_ILUSE is returned.

If task-awaking conditions have already been met when this service call is invoked, the task returns immediately and

responds to the call with E_OK. If task-awaking conditions are not met and the invoked service call is wai_flg or

twai_flg, the task is enqueued in an eventflag waiting queue. In that case, if the attribute of the specified eventflag is

TA_TFIFO, the task is enqueued in order of FIFO; if TA_TPRI, the task is enqueued in order of priority. For the

pol_flg and ipol_flg service calls, the task returns immediately and responds to the call with the error code

E_TMOUT.

For the twai_flg service call, specify a wait time for tmout in ms units. The values specified for tmout must be with-

in (0x7FFFFFFF-time tick value). If any value exceeding this limit is specified, the service call may not operate

correctly. If TMO_POL=0 is specified for tmout, it means specifying 0 as a timeout value, in which case the service

call operates the same way as pol_flg. Furthermore, if specified as tmout=TMO_FEVR(–1), it means specifying an

infinite wait, in which case the service call operates the same way as wai_flg.

The task placed into a wait state by execution of the wai_flg or twai_flg service call is released from WAITING

state in the following cases:

‹

When task-awaking conditions are met before the tmout time elapses

The error code returned in this case is E_OK.

‹

When the first time tick occurred after tmout elapsed while task-awaking conditions remain

unsatisfied

The error code returned in this case is E_TMOUT.

‹

When the task is forcibly released from WAITING state by the rel_wai or irel_wai service call

issued from another task or a handler

The error code returned in this case is E_RLWAI.

The following shows how wfmode is specified and the meaning of each mode.

wfmdoe (wait mode)

Meaning

TWF_ANDW

TWF_ORW

Wait until all bits specified by waiptn are set (wait for the bits AND’ed)

Wait until one of the bits specified by waiptn is set (wait for the bits OR’ed)

If this service call is to be issued from task context, use wai_flg,twai_flg,pol_flg; if issued from non-task context,

use ipol_flg.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

UINT flgptn;

if(wai_flg(ID_flg2, (FLGPTN)0x00000ff0, TWF_ANDW, &flgptn)!=E_OK)

error(“Wait Released\n”);

if(pol_flg(ID_flg2, (FLGPTN)0x00000ff0, TWF_ORW, &flgptn)!=E_OK)

printf(“Not set EventFlag\n”);

if( twai_flg(ID_flg2, (FLGPTN)0x00000ff0, TWF_ANDW, &flgptn, 5) != E_OK )

error(“Wait Released\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

PUSH.L

wai_flg

#ID_FLG1,#00000003H,#TWF_ANDW

PUSH.W

PUSH.L

pol_flg

PUSH.W

PUSH.L

PUSHM

wai_flg

#ID_FLG2,#00000008H,#TWF_ORW

R6R4

#ID_FLG3,#00000003H,#TWF_ANDW,20

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ref_flg

iref_flg

Reference eventflag status

Reference eventflag status (handler only)

[[ C Language API ]]

ER ercd = ref_flg( ID flgid, T_RFLG *pk_rflg );

ER ercd = iref_flg( ID flgid, T_RFLG *pk_rflg );

z Parameters

flgid

ID number of the target eventflag

T_RFLG

*pk_rflg

Pointer to the packet to which eventflag status is returned

z Return Parameters

ercd

Terminated normally (E_OK)

T_RFLG

*pk_rflg

Pointer to the packet to which eventflag status is returned

Contents of pk_rflg

typedef struct

ID wtskid

FLGPTN flgptn

} T_RFLG;

t_rflg{

Reception waiting task ID

Current eventflag bit pattern

[[ Assembly language API ]]

.include mr100.inc

ref_flg FLGID, PK_RFLG

iref_flg FLGID, PK_RFLG

z Parameters

FLGID

ID number of the target eventflag

PK_RFLG

Pointer to the packet to which eventflag status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target eventflag

Pointer to the packet to which eventflag status is returned

[[ Error code ]]

None

[[ Functional description ]]

This service call returns various statuses of the eventflag indicated by flgid.

‹wtskid

Returned to wtskid is the ID number of the task at the top of a waiting queue (the next task to be dequeued). If no

tasks are kept waiting, TSK_NONE is returned.

‹flgptn

Returned to flgptn is the current eventflag bit pattern.

If this service call is to be issued from task context, use ref_flg; if issued from non-task context, use iref_flg.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RFLG rflg;

ER ercd;

ercd = ref_flg( ID_FLG1, &rflg );

}

<<Example statement in assembly language>>

_ refflg:

.blkb 6

.include mr100.inc

.GLB

task:

task

PUSH.W R2

PUSH.L A1

ref_flg #ID_FLG1,#_refflg

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5.5 Synchronization & Communication Function (Data Queue)

Specifications of the data queue function of MR100 are listed in Table 5.9.

Table 5.9 Specifications of the Data Queue Function

No.

Item

Content

Data queue ID

1-255

Capacity (data bytes) in data queue area

Data size

0-8191

32 bits

Data queue attribute

TA_TFIFO:

Waiting tasks enqueued in order of FIFO

Waiting tasks enqueued in order of priority

TA_TPRI:

Table 5.10 List of Dataqueue Function Service Call

No.

Service Call

Function

System State

snd_dtq

psnd_dtq

[S]

Sends to data queue

Sends to data queue (polling)

ipsnd_dtq [S]

tsnd_dtq

fsnd_dtq

[S]

Sends to data queue (with timeout)

Forced sends to data queue

ifsnd_dtq [S]

rcv_dtq

prcv_dtq

iprcv_dtq

trcv_dtq

ref_dtq

[S]

Receives from data queue

Receives from data queue (polling)

[S]

Receives from data queue (with timeout)

References data queue status

iref_dtq

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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snd_dtq

Send to data queue

psnd_dtq

ipsnd_dtq

tsnd_dtq

fsnd_dtq

ifsnd_dtq

Send to data queue (polling)

Send to data queue (polling, handler only)

Send to data queue (with timeout)

Forced send to data queue

Forced send to data queue (handler only)

[[ C Language API ]]

ER ercd = snd_dtq( ID dtqid, VP_INT data );

ER ercd = psnd_dtq( ID dtqid, VP_INT data );

ER ercd = ipsnd_dtq( ID dtqid, VP_INT data );

ER ercd = tsnd_dtq( ID dtqid, VP_INT data, TMO tmout );

ER ercd = fsnd_dtq( ID dtqid, VP_INT data );

ER ercd = ifsnd_dtq( ID dtqid, VP_INT data );

z Parameters

dtqid

tmout

data

ID number of the data queue to which transmitted

Timeout value(tsnd_dtq)

TMO

VP_INT

Data to be transmitted

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

snd_dtq DTQID, DTQDATA

isnd_dtq DTQID, DTQDATA

psnd_dtq DTQID, DTQDATA

ipsnd_dtq DTQID, DTQDATA

tsnd_dtq DTQID, DTQDATA,TMO

fsnd_dtq DTQID, DTQDATA

ifsnd_dtq DTQID, DTQDATA

z Parameters

DTQID

ID number of the data queue to which transmitted

DTQDATA Data to be transmitted

TMO

Timeout value (tsnd_dtq)

z Register contents after service call is issued

snd_dtq,psnd_dtq,ipsnd_dtq,fsnd_dtq,ifsnd_dtq

Content after service call is issued

Error code

R3R1

Data to be transmitted

ID number of the data queue to which transmitted

tsnd_dtq

Content after service call is issued

Error code

R3R1

Data to be transmitted

ID number of the data queue to which transmitted

Timeout value

R6R4

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[[ Error code ]]

E_RLWAI

Forced release from waiting

E_TMOUT

E_ILUSE

Polling failure or timeout or timed out

Service call improperly used

(fsnd_dtq or ifsnd_dtq is issued for a data queue whose dtqcnt = 0)

Released from WAITING state by clearing of the data queue area

EV_RST

[[ Functional description ]]

This service call sends the 4-byte data indicated by data to the data queue indicated by dtqid. If any task is kept waiting for

reception in the target data queue, the data is not stored in the data queue and instead sent to the task at the top of the recep-

tion waiting queue, with which the task is released from the reception wait state.

On the other hand, if snd_dtq or tsnd_dtq is issued for a data queue that is full of data, the task that issued the service call

goes from RUNNING state to a data transmission wait state, and is enqueued in transmission waiting queue, kept waiting

for the data queue to become available. In that case, if the attribute of the specified data queue is TA_TFIFO, the task is

enqueued in order of FIFO; if TA_TPRI, the task is enqueued in order of priority. For psnd_dtq and ipsnd_dtq, the task re-

turns immediately and responds to the call with the error code E_TMOUT.

For the tsnd_dtq service call, specify a wait time for tmout in ms units. The values specified for tmout must be within

(0x7FFFFFFF-time tick value). If any value exceeding this limit is specified, the service call may not operate correctly. If

TMO_POL=0 is specified for tmout, it means specifying 0 as a timeout value, in which case the service call operates the

same way as psnd_dtq. Furthermore, if specified as tmout=TMO_FEVR(–1), it means specifying an infinite wait, in which

case the service call operates the same way as snd_dtq.

If there are no tasks waiting for reception, nor is the data queue area filled, the transmitted data is stored in the data queue.

The task placed into WAITING state by execution of the snd_dtq or tsnd_dtq service call is released from WAITING state

in the following cases:

‹When the rcv_dtq, trcv_dtq, prcv_dtq, or iprcv_dtq service call is issued before the tmout time

elapses, with task-awaking conditions thereby satisfied

The error code returned in this case is E_OK.

‹When the first time tick occurred after tmout elapsed while task-awaking conditions remain un-

satisfied

The error code returned in this case is E_TMOUT.

‹When the task is forcibly released from WAITING state by the rel_wai or irel_wai service call is-

sued from another task or a handler

The error code returned in this case is E_RLWAI.

‹When the target data queue being waited for is initialized by the vrst_dtq service call issued

from another task

The error code returned in this case is EV_RST.

For fsnd_dtq and ifsnd_dtq, the data at the top of the data queue or the oldest data is removed, and the transmitted data is

stored at the tail of the data queue. If the data queue area is not filled with data, fsnd_dtq and ifsnd_dtq operate the same

way as snd_dtq. If dtqcnt = 0 ,there is no task in the wait queue and fsnd_dtq or ifsnd_dtq service call is issued, error code

E_ILUSE will be returned.

If this service call is to be issued from task context, use snd_dtq,tsnd_dtq,psnd_dtq,fsnd_dtq; if issued from non-task con-

text, use ipsnd_dtq,ifsnd_dtq.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

VP_INT data[10];

void task(void)

{

if( snd_dtq( ID_dtq, data[0]) == E_RLWAI ){

error(“Forced released\n”);

}

if( psnd_dtq( ID_dtq, data[1])== E_TMOUT ){

error(“Timeout\n”);

}

if( tsnd_dtq( ID_dtq, data[2], 10 ) != E_ TMOUT ){

error(“Timeout \n”);

}

if( fsnd_dtq( ID_dtq, data[3]) != E_OK ){

error(“error\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task

_g_dtq: .LWORD 12345678H

task:

PUSH.W

PUSHM

tsnd_dtq

R6R4,R3R1

#ID_DTQ1,_g_dtq,#100

PUSH.W

PUSHM

psnd_dtq

PUSH.W

PUSHM

fsnd_dtq

R3R1

#ID_DTQ2,#0FFFFFFFFH

R3R1

#ID_DTQ3,#0ABCDH

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rcv_dtq

Receive from data queue

prcv_dtq

iprcv_dtq

trcv_dtq

Receive from data queue (polling)

Receive from data queue (polling, handler only)

Receive from data queue (with timeout)

[[ C Language API ]]

ER ercd = rcv_dtq( ID dtqid, VP_INT *p_data );

ER ercd = prcv_dtq( ID dtqid, VP_INT *p_data );

ER ercd = iprcv_dtq( ID dtqid, VP_INT *p_data );

ER ercd = trcv_dtq( ID dtqid, VP_INT *p_data, TMO tmout );

z Parameters

dtqid

ID number of the data queue from which to receive

Timeout value (trcv_dtq)

TMO

VP_INT

tmout

*p_data

Pointer to the start of the area in which received data is stored

z Return Parameters

ercd

Terminated normally (E_OK) or error code

VP_INT

*p_data

Pointer to the start of the area in which received data is stored

[[ Assembly language API ]]

.include mr100.inc

rcv_dtq DTQID

prcv_dtq DTQID

iprcv_dtq DTQID

trcv_dtq DTQID,TMO

z Parameters

DTQID

ID number of the data queue from which to receive

TMO

Timeout value (trcv_dtq)

z Register contents after service call is issued

rcv_dtq,prcv_dtq,iprcv_dtq

Content after service call is issued

Error code

R3R1

Received data

Data queue ID number

trcv_dtq

Content after service call is issued

Error code

R3R1

Received data

ID number of the data queue from which to receive

Timeout value

R6R4

[[ Error code ]]

E_RLWAI

Forced release from waiting

E_TMOUT

Polling failure or timeout or timed out

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[[ Functional description ]]

This service call receives data from the data queue indicated by dtqid and stores the received data in the area pointed to by

p_data. If data is present in the target data queue, the data at the top of the queue or the oldest data is received. This results

in creating a free space in the data queue area, so that a task enqueued in a transmission waiting queue is released from

WAITING state, and starts sending data to the data queue area.

If no data exist in the data queue and there is any task waiting to send data (i.e., data bytes in the data queue area = 0), data

for the task at the top of the data transmission waiting queue is received. As a result, the task kept waiting to send that data

is released from WAITING state.

On the other hand, if rcv_dtq or trcv_dtq is issued for the data queue which has no data stored in it, the task that issued the

service call goes from RUNNING state to a data reception wait state, and is enqueued in a data reception waiting queue. At

this time, the task is enqueued in order of FIFO. For the prcv_dtq and iprcv_dtq service calls, the task returns immediately

and responds to the call with the error code E_TMOUT.

For the trcv_dtq service call, specify a wait time for tmout in ms units. The values specified for tmout must be within

(0x7FFFFFFF-time tick value). If any value exceeding this limit is specified, the service call may not operate correctly. If

TMO_POL=0 is specified for tmout, it means specifying 0 as a timeout value, in which case the service call operates the

same way as prcv_dtq. Furthermore, if specified as tmout=TMO_FEVR(–1), it means specifying an infinite wait, in which

case the service call operates the same way as rcv_dtq.

The task placed into a wait state by execution of the rcv_dtq or trcv_dtq service call is released from the wait state in the

following cases:

‹When the rcv_dtq, trcv_dtq, prcv_dtq, or iprcv_dtq service call is issued before the tmout time

elapses, with task-awaking conditions thereby satisfied

The error code returned in this case is E_OK.

‹When the first time tick occurred after tmout elapsed while task-awaking conditions remain un-

satisfied

The error code returned in this case is E_TMOUT.

‹When the task is forcibly released from WAITING state by the rel_wai or irel_wai service call is-

sued from another task or a handler

The error code returned in this case is E_RLWAI.

If this service call is to be issued from task context, use rcv_dtq,trcv_dtq,prcv_dtq; if issued from non-task context, use

iprcv_dtq.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

VP_INT data;

if( rcv_dtq( ID_dtq, &data ) != E_RLWAI )

error(“forced wakeup\n”);

if( prcv_dtq( ID_dtq, &data ) != E_TMOUT )

error(“Timeout\n”);

if( trcv_dtq( ID_dtq, &data, 10 ) != E_TMOUT )

error(“Timeout \n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

PUSHM

trcv_dtq

R6R4

#ID_DTQ1,#TMO_POL

PUSH.W

prcv_dtq

#ID_DTQ2

PUSH.W

rcv_dtq

#ID_DTQ2

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ref_dtq

iref_dtq

Reference data queue status

Reference data queue status (handler only)

[[ C Language API ]]

ER ercd = ref_dtq( ID dtqid, T_RDTQ *pk_rdtq );

ER ercd = iref_dtq( ID dtqid, T_RDTQ *pk_rdtq );

z Parameters

dtqid

ID number of the target data queue

T_RDTQ

*pk_rdtq

Pointer to the packet to which data queue status is returned

z Return Parameters

ercd

Terminated normally (E_OK)

T_RDTQ

*pk_rdtq

Pointer to the packet to which data queue status is returned

Contents of pk_rdtq

typedef struct

ID stskid

wtskid

sdtqcnt

t_rdtq{

Transmission waiting task ID

Reception waiting task ID

Data bytes contained in data queue

UINT

} T_RDTQ;

[[ Assembly language API ]]

.include mr100.inc

ref_dtq DTQID, PK_RDTQ

iref_dtq DTQID, PK_RDTQ

z Parameters

DTQID

ID number of the target data queue

PK_RDTQ

Pointer to the packet to which data queue status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target data queue

Pointer to the packet to which data queue status is returned

[[ Error code ]]

None

[[ Functional description ]]

This service call returns various statuses of the data queue indicated by dtqid.

‹stskid

Returned to stskid is the ID number of the task at the top of a transmission waiting queue (the next task to be de-

queued). If no tasks are kept waiting, TSK_NONE is returned.

‹wtskid

Returned to wtskid is the ID number of the task at the top of a reception waiting queue (the next task to be de-

queued). If no tasks are kept waiting, TSK_NONE is returned.

‹sdtqcnt

Returned to sdtqcnt is the number of data bytes stored in the data queue area.

If this service call is to be issued from task context, use ref_dtq; if issued from non-task context, use iref_dtq.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RDTQ rdtq;

ER ercd;

ercd = ref_dtq( ID_DTQ1, &rdtq );

}

<<Example statement in assembly language>>

_ refdtq:

.blkb 8

.include mr100.inc

.GLB

task:

task

PUSH.W R2

PUSH.L A1

ref_dtq #ID_DTQ1,#_refdtq

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5.6 Synchronization & Communication Function (Mailbox)

Specifications of the mailbox function of MR100 are listed in Table 5.11.

Table 5.11 Specifications of the Mailbox Function

No.

Item

Content

Mailbox ID

1-255

Mailbox priority

Mailbox attribute

TA_TFIFO:

TA_TPRI:

Waiting tasks enqueued in order of FIFO

Waiting tasks enqueued in order of priority

Messages enqueued in order of FIFO

Messages enqueued in order of priority

TA_MFIFO:

TA_MPRI:

Table 5.12 List of Mailbox Function Service Call

Service Call

Function

System State

snd_mbx

[S][B]

Send to mailbox

isnd_mbx

rcv_mbx

prcv_mbx

iprcv_mbx

trcv_mbx

ref_mbx

[S][B]

Receive from mailbox

Receive from mailbox(polling)

[S]

Receive from mailbox(with timeout)

Reference mailbox status

iref_mbx

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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snd_mbx

isnd_mbx

Send to mailbox

Send to mailbox (handler only)

[[ C Language API ]]

ER ercd = snd_mbx( ID mbxid, T_MSG *pk_msg );

ER ercd = isnd_mbx( ID mbxid, T_MSG *pk_msg );

z Parameters

mbxid

ID number of the mailbox to which transmitted

Message to be transmitted

T_MSG

*pk_msg

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

snd_mbx MBXID,PK_MBX

isnd_mbx MBXID,PK_MBX

z Parameters

MBXID

ID number of the mailbox to which transmitted

PK_MBX

Message to be transmitted (address)

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the mailbox to which transmitted

Message to be transmitted (address)

[[ Structure of the message packet ]]

<<Mailbox message header>>

typedef

} T_MSG;

<<Mailbox message header with priority included>>

typedef struct t_msg{

T_MSG msgque

struct

t_msg{

msghead

Kernel managed area

Message header

Message priority

PRI

msgpri

} T_MSG;

[[ Error code ]]

None

[[ Functional description ]]

This service call sends the message indicated by pk_msg to the mailbox indicated by mbxid. T_MSG* should be specified

with a 32-bit address. If there is any task waiting to receive a message in the target mailbox, the transmitted message is

passed to the task at the top of the waiting queue, and the task is released from WAITING state.

To send a message to a mailbox whose attribute is TA_MFIFO, add a T_MSG structure at the beginning of the message

when creating it, as shown in the example below.

To send a message to a mailbox whose attribute is TA_MPRI, add a T_MSG_PRI structure at the beginning of the message

when creating it, as shown in the example below.

Messages should always be created in a RAM area regardless of whether its attribute is TA_MFIFO or TA_MPRI.

The T_MSG area is used by the kernel, so that it cannot be rewritten after a message has been sent. If this area is rewritten

before the message is received after it was sent, operation of the service call cannot be guaranteed.

If this service call is to be issued from task context, use snd_mbx; if issued from non-task context, use isnd_mbx.

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<<Example format of a message>>

typedef struct user_msg{

T_MSG t_msg;

/* T_MSG structure */

/* User message data */

data[16];

} USER_MSG;

<<Example format of a message with priority included>>

typedef struct user_msg{

T_MSG_PRI

t_msg;

data[16];

/* T_MSG_PRI structure */

/* User message data */

} USER_MSG;

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

typedef struct pri_message

{

T_MSG_PRI

msgheader;

char

body[12];

} PRI_MSG;

void task(void)

{

PRI_MSG

msg;

msg.msgpri = 5;

snd_mbx( ID_msg,(T_MSG *)&msg);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

_g_userMsg:

task

.blkb 6

.blkb 12

; Header

; Body

task:

PUSH.W

PUSH.L

snd_mbx

#ID_MBX1,#_g_userMsg

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rcv_mbx

Receive from mailbox

prcv_mbx

iprcv_mbx

trcv_mbx

Receive from mailbox (polling)

Receive from mailbox (polling, handler only)

Receive from mailbox (with timeout)

[[ C Language API ]]

ER ercd = rcv_mbx( ID mbxid, T_MSG **ppk_msg );

ER ercd = prcv_mbx( ID mbxid, T_MSG **ppk_msg );

ER ercd = iprcv_mbx( ID mbxid, T_MSG **ppk_msg );

ER ercd = trcv_mbx( ID mbxid, T_MSG **ppk_msg, TMO tmout );

z Parameters

mbxid

ID number of the mailbox from which to receive

Timeout value (for trcv_mbx)

TMO

T_MSG

tmout

**ppk_msg

Pointer to the start of the area in which received message is

stored

z Return Parameters

ercd

Terminated normally (E_OK) or error code

Pointer to the start of the area in which received message is

stored

T_MSG

**ppk_msg

[[ Assembly language API ]]

.include mr100.inc

rcv_mbx MBXID

prcv_mbx MBXID

iprcv_mbx MBXID

trcv_mbx MBXID, TMO

z Parameters

MBXID

ID number of the mailbox from which to receive

TMO

Timeout value (for trcv_mbx)

z Register contents after service call is issued

rcv_mbx,prcv_mbx,iprcv_mbx

Content after service call is issued

Error code

ID number of the mailbox from which to receive

Received message

trcv_mbx

Content after service call is issued

Error code

ID number of the mailbox from which to receive

Timeout value

R6R4

Received message

[[ Error code ]]

E_RLWAI

Forced release from waiting

E_TMOUT

Polling failure or timeout or timed out

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[[ Functional description ]]

This service call receives a message from the mailbox indicated by mbxid and stores the start address of the received mes-

sage in the area pointed to by ppk_msg. T_MSG** should be specified with a 32-bit address. If data is present in the tar-

get mailbox, the data at the top of the mailbox is received.

On the other hand, if rcv_mbx or trcv_mbx is issued for a mailbox that has no messages in it, the task that issued the ser-

vice call goes from RUNNING state to a message reception wait state, and is enqueued in a message reception waiting

queue. In that case, if the attribute of the specified mailbox is TA_TFIFO, the task is enqueued in order of FIFO; if

TA_TPRI, the task is enqueued in order of priority. For prcv_mbx and iprcv_mbx, the task returns immediately and re-

sponds to the call with the error code E_TMOUT.

For the trcv_mbx service call, specify a wait time for tmout in ms units. The values specified for tmout must be within

0x7FFFFFFF. If any value exceeding this limit is specified, the service call may not operate correctly. If TMO_POL=0 is

specified for tmout, it means specifying 0 as a timeout value, in which case the service call operates the same way as

prcv_mbx. Furthermore, if specified as tmout=TMO_FEVR(–1), it means specifying an infinite wait, in which case the

service call operates the same way as rcv_mbx.

The task placed into WAITING state by execution of the rcv_mbx or trcv_mbx service call is released from WAITING state

in the following cases:

‹When the rcv_mbx, trcv_mbx, prcv_mbx, or iprcv_mbx service call is issued before the tmout

time elapses, with task-awaking conditions thereby satisfied

The error code returned in this case is E_OK.

‹When the first time tick occurred after tmout elapsed while task-awaking conditions remain un-

satisfied

The error code returned in this case is E_TMOUT.

‹When the task is forcibly released from WAITING state by the rel_wai or irel_wai service call is-

sued from another task or a handler

The error code returned in this case is E_RLWAI.

If this service call is to be issued from task context, use rcv_mbx,trcv_mbx,prcv_mbx; if issued from non-task context, use

iprcv_mbx.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

typedef struct fifo_message

{

T_MSG head;

char

} FIFO_MSG;

void task()

{

body[12];

FIFO_MSG *msg;

if( rcv_mbx((T_MSG **)&msg, ID_mbx) == E_RLWAI )

error(“forced wakeup\n”);

if( prcv_mbx((T_MSG **)&msg, ID_mbx) != E_TMOUT )

error(“Timeout\n”);

if( trcv_mbx((T_MSG **)&msg, ID_mbx,10) != E_TMOUT )

error(“Timeout\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

PUSHM

trcv_mbx

R6R4

#ID_MBX1,#100

PUSH.W

rcv_mbx

PUSH.W

prcv_mbx

#ID_MBX1

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ref_mbx

iref_mbx

Reference mailbox status

Reference mailbox status (handler only)

[[ C Language API ]]

ER ercd = ref_mbx( ID mbxid, T_RMBX *pk_rmbx );

ER ercd = iref_mbx( ID mbxid, T_RMBX *pk_rmbx );

z Parameters

mbxid

ID number of the target mailbox

T_RMBX

*pk_rmbx

Pointer to the packet to which mailbox status is returned

z Return Parameters

ercd

Terminated normally (E_OK)

T_RMBX

*pk_rmbx

Pointer to the packet to which mailbox status is returned

Contents of pk_rmbx

typedef struct

ID wtskid

T_MSG *pk_msg

} T_RMBX;

t_rmbx{

Reception waiting task ID

Next message packet to be received

[[ Assembly language API ]]

.include mr100.inc

ref_mbx MBXID, PK_RMBX

iref_mbx MBXID, PK_RMBX

z Parameters

MBXID

ID number of the target mailbox

PK_RMBX Pointer to the packet to which mailbox status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target mailbox

Pointer to the packet to which mailbox status is returned

[[ Error code ]]

None

[[ Functional description ]]

This service call returns various statuses of the mailbox indicated by mbxid.

‹wtskid

Returned to wtskid is the ID number of the task at the top of a reception waiting queue (the next task to be de-

queued). If no tasks are kept waiting, TSK_NONE is returned.

‹*pk_msg

Returned to *pk_msg is the start address of the next message to be received. If there are no messages to be re-

ceived next, NULL is returned. T_MSG* should be specified with a 32-bit address.

If this service call is to be issued from task context, use ref_mbx; if issued from non-task context, use iref_mbx.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RMBX rmbx;

ER ercd;

ercd = ref_mbx( ID_MBX1, &rmbx );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

_ refmbx:

task:

task

.blkb 6

PUSH.W R2

PUSH.L A1

ref_mbx #ID_MBX1,#_refmbx

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5.7 Memory Pool Management Function (Fixed-size Memory Pool)

Specifications of the fixed-size memory pool function of MR100 are listed in Table 5.13.

The memory pool area to be acquired can be specified by a section name for each memory pool during configuration.

Table 5.13 Specifications of the Fixed-size memory pool Function

No.

Item

Content

Fixed-size memory pool ID

Number of fixed-size memory block

Size of fixed-size memory block

Supported attributes

1-255

1-65535

４-65535

TA_TFIFO:

Waiting tasks enqueued in order of FIFO

Waiting tasks enqueued in order of priority

TA_TPRI:

Specification of memory pool area

Area to be acquired specifiable by a section

Table 5.14 List of Fixed-size memory pool Function Service Call

No.

Service Call

Function

System State

get_mpf

pget_mpf [S][B]

ipget_mpf

tget_mpf

[S][B]

Aquires fixed-size memory block

(polling)

Aquires fixed-size memory block

(with timeout)

[S]

rel_mpf

irel_mpf

ref_mpf

iref_mpf

[S][B]

Releases fixed-size memory block

References fixed-size memory pool status

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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get_mpf

pget_mpf

ipget_mpf

Aquire fixed-size memory block

Aquire fixed-size memory block (polling)

Aquire fixed-size memory block (polling, handler

only)

tget_mpf

Aquire fixed-size memory block (with timeout)

[[ C Language API ]]

ER ercd = get_mpf( ID mpfid, VP *p_blk );

ER ercd = pget_mpf( ID mpfid, VP *p_blk );

ER ercd = ipget_mpf( ID mpfid, VP *p_blk );

ER ercd = tget_mpf( ID mpfid, VP *p_blk,TMO tmout );

z Parameters

mpfid

*p_blk

tmout

ID number of the target fixed-size memory pool to be acquired

Pointer to the start address of the acquired memory block

Timeout value(tget_mpf)

TMO

z Return Parameters

ercd

Terminated normally (E_OK) or error code

Pointer to the start address of the acquired memory block

*p_blk

[[ Assembly language API ]]

.include mr100.inc

get_mpf MPFID

pget_mpf MPFID

ipget_mpfMPFID

tget_mpf MPFID,TMO

z Parameters

MPFID

ID number of the target fixed-size memory pool to be acquired

TMO

Timeout value(tget_mpf)

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z Register contents after service call is issued

get_mpf,pget_mpf,ipget_mpf

Content after service call is issued

Error code

R3R1

Start address of the acquired memory block

ID number of the target fixed-size memory pool to be acquired

tget_mpf

Content after service call is issued

Error code

R3R1

Start address of the acquired memory block

ID number of the target fixed-size memory pool to be acquired

Timeout value

R6R4

[[ Error code ]]

E_RLWAI

Forced release from waiting

E_TMOUT

EV_RST

Polling failure or timeout or timed out

Released from WAITING state by clearing of the memory pool area

[[ Functional description ]]

This service call acquires a memory block from the fixed-size memory pool indicated by mpfid and stores the start address

of the acquired memory block in the variable p_blk. The content of the acquired memory block is indeterminate.

If the fixed-size memory pool indicated by mpfid has no memory blocks in it and the used service call is tget_mpf or

get_mpf, the task that issued it goes to a memory block wait state and is enqueued in a memory block waiting queue. In that

case, if the attribute of the specified fixed-size memory pool is TA_TFIFO, the task is enqueued in order of FIFO; if

TA_TPRI, the task is enqueued in order of priority. If the issued service call was pget_mpf or ipget_mpf, the task returns

immediately and responds to the call with the error code E_TMOUT.

For the tget_mpf service call, specify a wait time for tmout in ms units. The values specified for tmout must be within

(0x7FFFFFFF – time tick value). If any value exceeding this limit is specified, the service call may not operate correctly. If

TMO_POL=0 is specified for tmout, it means specifying 0 as a timeout value, in which case the service call operates the

same way as pget_mpf. Furthermore, if specified as tmout=TMO_FEVR(–1), it means specifying an infinite wait, in which

case the service call operates the same way as get_mpf.

The task placed into WAITING state by execution of the get_mpf or tget_mpf service call is released from WAITING state

in the following cases:

‹When the rel_mpf or irel_mpf service call is issued before the tmout time elapses, with

task-awaking conditions thereby satisfied

The error code returned in this case is E_OK.

‹When the first time tick occurred after tmout elapsed while task-awaking conditions remain un-

satisfied

The error code returned in this case is E_TMOUT.

‹When the task is forcibly released from WAITING state by the rel_wai or irel_wai service call is-

sued from another task or a handler

The error code returned in this case is E_RLWAI.

‹When the target memory pool being waited for is initialized by the vrst_mpf service call issued

from another task

The error code returned in this case is EV_RST.

If this service call is to be issued from task context, use get_mpf,pget_mpf,tget_mpf; if issued from non-task context, use

ipget_mpf.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

p_blk;

void task()

{

if( get_mpf(ID_mpf ,&p_blk) != E_OK ){

error(“Not enough memory\n”);

}

if( pget_mpf(ID_mpf ,&p_blk) != E_OK ){

error(“Not enough memory\n”);

}

if( tget_mpf(ID_mpf ,&p_blk, 10) != E_OK ){

error(“Not enough memory\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

get_mpf

#ID_MPF1

PUSH.W

pget_mpf

PUSH.W

PUSHM

tget_mpf

#ID_MPF1

R6R4

#ID_MPF1,#200

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rel_mpf

irel_mpf

Release fixed-size memory block

Release fixed-size memory block (handler only)

[[ C Language API ]]

ER ercd = rel_mpf( ID mpfid, VP blk );

ER ercd = irel_mpf( ID mpfid, VP blk);

z Parameters

mpfid

ID number of the fixed-size memory pool to be released

Start address of the memory block to be returned

blk

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

rel_mpf MPFID,BLK

irel_mpf MPFID,BLK

z Parameters

MPFID

ID number of the fixed-size memory pool to be released

BLK

Start address of the memory block to be returned

z Register contents after service call is issued

Content after service call is issued

Error code

R3R1

Start address of the memory block to be returned

ID number of the fixed-size memory pool to be released

[[ Error code ]]

None

[[ Functional description ]]

This service call releases a memory block whose start address is indicated by blk. The start address of the memory block to

be released that is specified here should always be that of the memory block acquired by get_mpf, tget_mpf, pget_mpf, or

ipget_mpf.

If tasks are enqueued in a waiting queue for the target memory pool, the task at the top of the waiting queue is dequeued

and linked to a ready queue, and is assigned a memory block. At this time, the task changes state from a memory block wait

state to RUNNING or READY state. This service call does not check the content of blk, so that if the address stored in blk

is incorrect, the service call may not operate correctly.

If this service call is to be issued from task context, use rel_mpf; if issued from non-task context, use irel_mpf.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

VP p_blf;

if( get_mpf(ID_mpf1,&p_blf) != E_OK )

error(“Not enough memory \n”);

rel_mpf(ID_mpf1,p_blf);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task

_g_blk: .blkb 4

task:

PUSH.W

get_mpf

#ID_MPF1

MOV.L

PUSH.W

rel_mpf

R3R1,_g_blk

#ID_MPF1,_g_blk

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ref_mpf

iref_mpf

Reference fixed-size memory pool status

(handler only)

[[ C Language API ]]

ER ercd = ref_mpf( ID mpfid, T_RMPF *pk_rmpf );

ER ercd = iref_mpf( ID mpfid, T_RMPF *pk_rmpf );

z Parameters

mpfid

Task ID waiting for memory block to be acquired

T_RMPF

*pk_rmpf

Pointer to the packet to which fixed-size memory pool status is returned

z Return Parameters

ercd

Terminated normally (E_OK)

T_RMPF

*pk_rmpf

Pointer to the packet to which fixed-size memory pool status is returned

Contents of pk_rmpf

typedef struct

ID wtskid

fblkcnt

t_rmpf{

Task ID waiting for memory block to be acquired

Number of free memory blocks

UINT

} T_RMPF;

[[ Assembly language API ]]

.include mr100.inc

ref_mpf MPFID,PK_RMPF

iref_mpf MPFID,PK_RMPF

z Parameters

MPFID

Task ID waiting for memory block to be acquired

PK_RMPF

Pointer to the packet to which fixed-size memory pool status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

Task ID waiting for memory block to be acquired

Pointer to the packet to which fixed-size memory pool status is returned

[[ Error code ]]

None

[[ Functional description ]]

This service call returns various statuses of the message buffer indicated by mpfid.

‹wtskid

Returned to wtskid is the ID number of the task at the top of a memory block waiting queue (the first queued

task). If no tasks are kept waiting, TSK_NONE is returned.

‹fblkcnt

The number of free memory blocks in the specified memory pool is returned.

If this service call is to be issued from task context, use rel_mpf; if issued from non-task context, use irel_mpf.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RMPF rmpf;

ER ercd;

ercd = ref_mpf( ID_MPF1, &rmpf );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

_ refmpf:

task:

task

.blkb 6

PUSH.W R2

PUSH.L A1

ref_mpf #ID_MPF1,#_refmpf

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5.8 Memory Pool Management Function (Variable-size Memory Pool)

Specifications of the Variable-size Memory pool function of MR100 are listed in Table 5.15.

The memory pool area to be acquired can be specified by a section name for each memory pool during configuration.

Table 5.15 Specifications of the Variable-size memory Pool Function

No.

Item

Content

Variable-size memory pool ID

Size of Variable-size Memory pool

1-255

32-67108864

4-65504

Maximum number of memory blocks to

be acquired

Supported attributes

When memory is insufficient, task-waiting APIs are not sup-

ported.

Specification of memory pool area

Area to be acquired specifiable by a section

Table 5.16 List of Variable -size memory pool Function Service Call

No.

Service Call

Function

System State

pget_mpl

rel_mpl

ref_mpl

iref_mpl

Aquires variable-size memory block (polling)

Releases variable-size memory block

References variable-size memory pool status

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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pget_mpl

Aquire variable-size memory block (polling)

[[ C Language API ]]

ER ercd = pget_mpl( ID mplid, UINT blksz, VP *p_blk );

z Parameters

mplid

ID number of the target Variable-size Memory pool to be acquired

Memory size to be acquired (in bytes)

UINT

blksz

*p_blk

Pointer to the start address of the acquired variable memory

z Return Parameters

ercd

Terminated normally (E_OK) or error code

Pointer to the start address of the acquired variable memory

*p_blk

[[ Assembly language API ]]

.include mr100.inc

pget_mpl MPLID,BLKSZ

z Parameters

MPLID

ID number of the target Variable-size Memory pool to be acquired

BLKSZ

Memory size to be acquired (in bytes)

z Register contents after service call is issued

Content after service call is issued

Error code

R3R1

Memory size to be acquired

ID number of the target Variable-size Memory pool to be acquired

[[ Error code ]]

E_TMOUT

No memory block

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[[ Functional description ]]

This service call acquires a memory block from the variable-size memory pool indicated by mplid and stores the

start address of the acquired memory block in the variable p_blk. The content of the acquired memory block is in-

determinate.

If the specified variable-size memory pool has no memory blocks in it, the task returns immediately and responds to

the call with the error code E_TMOUT.

This service call can be issued only from task context. It cannot be issued from non-task context.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

p_blk;

void task()

{

if( pget_mpl(ID_mpl , 200, &p_blk) != E_OK ){

error(“Not enough memory\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

pget_mpl

#ID_MPL1,#200

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rel_mpl

Release variable-size memory block

[[ C Language API ]]

ER ercd = rel_mpl( ID mplid, VP blk );

z Parameters

mplid

ID number of Variable-size Memory pool of the memory block to be released

Start address of the memory block to be returned

Blk

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

rel_mpl MPLID,BLK

z Parameters

MPLID

ID number of Variable-size Memory pool of the memory block to be released

BLK

Start address of the memory block to be returned

z Register contents after service call is issued

Error code

R3R1

Start address of the memory block to be returned

ID number of Variable-size Memory pool of the memory block to be released

[[ Error code ]]

None

[[ Functional description ]]

This service call releases a memory block whose start address is indicated by blk. The start address of the memory

block to be released that is specified here should always be that of the memory block acquired by pget_mpl.

This service call does not check the content of blk, so that if the address stored in blk is incorrect, the service call

may not operate correctly.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

VP p_blk;

if( get_mpl(ID_mpl1, 200, &p_blk) != E_OK )

error(“Not enough memory \n”);

rel_mpl(ID_mp1,p_blk);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task

_g_blk: .blkb 4

task:

PUSH.W

pget_mpl

#ID_MPL1,#200

MOV.L

PUSH.W

rel_mpl

R3R1,_g_blk

#ID_MPL1,_g_blk

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ref_mpl

iref_mpl

Reference variable-size memory pool status

(handler only)

[[ C Language API ]]

ER ercd = ref_mpl( ID mplid, T_RMPL *pk_rmpl );

ER ercd = iref_mpl( ID mplid, T_RMPL *pk_rmpl );

z Parameters

mplid

ID number of the target variable-size memory pool

T_RMPL

*pk_rmpl

Pointer to the packet to which variable-size memory pool status is returned

z Return Parameters

ercd

Terminated normally (E_OK)

T_RMPL

*pk_rmpl

Pointer to the packet to which variable-size memory pool status is returned

Contents of pk_rmpl

typedef struct

ID wtskid

t_rmpl{

Task ID waiting for memory block to be acquired (unused)

Free memory size (in bytes)

Maximum size of memory that can be acquired immediately (in

bytes)

SIZE

fmplsz

fblksz

UINT

} T_RMPL;

[[ Assembly language API ]]

.include mr100.inc

ref_mpl MPLID,PK_RMPL

iref_mpl MPLID,PK_RMPL

z Parameters

MPLID

ID number of the target variable-size memory pool

PK_RMPL

Pointer to the packet to which variable-size memory pool status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target variable-size memory pool

Pointer to the packet to which variable-size memory pool status is returned

[[ Error code ]]

None

[[ Functional description ]]

This service call returns various statuses of the message buffer indicated by mplid.

‹wtskid

Unused.

‹fmplsz

A free memory size is returned.

‹fblksz

The maximum size of memory that can be acquired immediately is returned.

If this service call is to be issued from task context, use ref_mpl; if issued from non-task context, use iref_mpl.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RMPL rmpl;

ER ercd;

ercd = ref_mpl( ID_MPL1, &rmpl );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

_ refmpl:

task:

task

.blkb 10

PUSH.W R2

PUSH.L A1

ref_mpl #ID_MPL1,_refmpl

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5.9 Time Management Function

Specifications of the time management function of MR100 are listed in Table 5.17.

Table 5.17 Specifications of the Time Management Function

No.

Item

Content

System time value

Unsigned 48 bits

1[ms]

Unit of system time value

System time updating cycle

User-specified time tick updating time [ms]

000000000000H

Initial value of system time (at initial startup)

Table 5.18 List of Time Management Function Service Call

No.

Service Call

Function

System State

○

get_tim

[S]

Reference system time

○

iget_tim

set_tim

iset_tim

isig_tim

○

Set system time

○

Supply a time tick

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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set_tim

iset_tim

Set system time

Set system time (handler only)

[[ C Language API ]]

ER ercd = set_tim( SYSTIM *p_systim );

ER ercd = iset_tim( SYSTIM *p_systim );

z Parameters

SYSTIM

*p_systim

Pointer to the packet that indicates the system time to be set

Contents of p_systim

typedef struct t_systim {

utime

ltime

(16 high-order bits)

(32 low-order bits)

} SYSTIM;

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

set_tim PK_TIM

iset_tim PK_TIM

z Parameters

PK_TIM

Pointer to the packet that indicates the system time to be set

z Register contents after service call is issued

Content after service call is issued

Error code

Pointer to the packet that indicates the system time to be set

[[ Error code ]]

None

[[ Functional description ]]

This service call updates the current value of the system time to the value indicated by p_systim. The time specified in

p_systim is expressed in ms units, and not by the number of time ticks.

The values specified for p_systim must be within 0x7FFF: FFFFFFFF. If any value exceeding this limit is specified, the

service call may not operate correctly.

If this service call is to be issued from task context, use set_tim; if issued from non-task context, use iset_tim.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

SYSTIME time;

/* Time data storing variable */

time.utime = 0;

time.ltime = 0;

set_tim( &time );

/* Sets upper time data */

/* Sets lower time data */

/* Sets the system time */

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task

_g_systim:

.WORD 1111H

.LWORD 22223333H

task:

PUSHM A1

set_tim #_g_systim

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get_tim

iget_tim

Reference system time

Reference system time (handler only)

[[ C Language API ]]

ER ercd = get_tim( SYSTIM *p_systim );

ER ercd = iget_tim( SYSTIM *p_systim );

z Parameters

SYSTIM

*p_systim

Pointer to the packet to which current system time is returned

z Return Parameters

ercd

Terminated normally (E_OK)

SYSTIM

*p_systim

Pointer to the packet to which current system time is returned

Contents of p_systim

typedef struct t_systim {

utime

(16 high-order bits)

ltime

(32 low-order bits)

} SYSTIM;

[[ Assembly language API ]]

.include mr100.inc

get_tim PK_TIM

iget_tim PK_TIM

z Parameters

PK_TIM

Pointer to the packet to which current system time is returned

z Register contents after service call is issued

Content after service call is issued

Error code

Pointer to the packet to which current system time is returned

[[ Error code ]]

None

[[ Functional description ]]

This service call stores the current value of the system time in p_systim.

If this service call is to be issued from task context, use get_tim; if issued from non-task context, use iget_tim.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

SYSTIME time;

get_tim( &time );

/* Time data storing variable */

/* Refers to the system time */

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

_g_systim:

task:

task

.blkb 6

PUSHM A1

get_tim #_g_systim

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isig_tim

Supply a time tick

[[ Functional description ]]

This service call updates the system time.

The isig_tim is automatically started every tick_time interval(ms) if the system clock is defined by the configuration file.

The application cannot call this function because it is not implementing as service call.

When a time tick is supplied, the kernel is processed as follows:

(1) Updates the system time

(2) Starts an alarm handler

(3) Starts a cyclic handler

(4) Processes the timeout processing of the task put on WAITING state by service call with timeout such

as tslp_tsk.

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5.10Time Management Function (Cyclic Handler)

Specifications of the cyclic handler function of MR100 are listed in Table 5.19. The cyclic handler description languages in

item No. 4 are those specified in the GUI configurator. They are not output to a configuration file, nor are the MR100 ker-

nel concerned with them.

Table 5.19 Specifications of the Cyclic Handler Function

No.

Item

Content

Cyclic handler ID

Activation cycle

Activation phase

Extended information

Cyclic handler attribute

1-255

0-7fffffff[ms]

32 bits

TA_HLNG:

TA_ASM:

TA_STA:

TA_PHS:

Handlers written in high-level language

Handlers written in assembly language

Starts operation of cyclic handler

Saves activation phase

Table 5.20 List of Cyclic Handler Function Service Call

No.

Service Call

Function

System State

sta_cyc

ista_cyc

stp_cyc

istp_cyc

ref_cyc

iref_cyc

[S][B]

Starts cyclic handler operation

Stops cyclic handler operation

Reference cyclic handler status

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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sta_cyc

ista_cyc

Start cyclic handler operation

Start cyclic handler operation (handler only)

[[ C Language API ]]

ER ercd = sta_cyc( ID cycid );

ER ercd = ista_cyc( ID cycid );

z Parameters

cycid

ID number of the cyclic handler to be operated

Terminated normally (E_OK)

z Return Parameters

ercd

[[ Assembly language API ]]

.include mr100.inc

sta_cyc CYCNO

ista_cyc CYCNO

z Parameters

CYCNO

ID number of the cyclic handler to be operated

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the cyclic handler to be operated

[[ Error code ]]

None

[[ Functional description ]]

This service call places the cyclic handler indicated by cycid into an operational state. If the cyclic handler attribute of

TA_PHS is not specified, the cyclic handler is started every time the activate cycle elapses, start with the time at which this

service call was invoked.

If while TA_PHS is not specified this service call is issued to a cyclic handler already in an operational state, it sets the time

at which the cyclic handler is to start next.

If while TA_PHS is specified this service call is issued to a cyclic handler already in an operational state, it does not set the

startup time.

If this service call is to be issued from task context, use sta_cyc; if issued from non-task context, use ista_cyc.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

sta_cyc ( ID_cyc1 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W R2

sta_cyc #ID_CYC1

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stp_cyc

istp_cyc

Stops cyclic handler operation

Stops cyclic handler operation (handler only)

[[ C Language API ]]

ER ercd = stp_cyc( ID cycid );

ER ercd = istp_cyc( ID cycid );

z Parameters

cycid

ID number of the cyclic handler to be stopped

Terminated normally (E_OK)

z Return Parameters

ercd

[[ Assembly language API ]]

.include mr100.inc

stp_cyc CYCNO

istp_cyc CYCNO

z Parameters

CYCNO

ID number of the cyclic handler to be stopped

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the cyclic handler to be stopped

[[ Error code ]]

None

[[ Functional description ]]

This service call places the cyclic handler indicated by cycid into a non-operational state.

If this service call is to be issued from task context, use stp_cyc; if issued from non-task context, use istp_cyc.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

stp_cyc ( ID_cyc1 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W R2

stp_cyc #ID_CYC1

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ref_cyc

iref_cyc

Reference cyclic handler status

Reference cyclic handler status (handler only)

[[ C Language API ]]

ER ercd = ref_cyc( ID cycid, T_RCYC *pk_rcyc );

ER ercd = iref_cyc( ID cycid, T_RCYC *pk_rcyc );

z Parameters

cycid

ID number of the target cyclic handler

T_RCYC

*pk_rcyc

Pointer to the packet to which cyclic handler status is returned

z Return Parameters

ercd

Terminated normally (E_OK)

T_RCYC

*pk_rcyc

Pointer to the packet to which cyclic handler status is returned

Contents of pk_rcyc

typedef struct

STAT cycstat

RELTIM lefttim

} T_RCYC;

t_rcyc{

Operating status of cyclic handler

Left time before cyclic handler starts up

[[ Assembly language API ]]

.include mr100.inc

ref_cyc ID,PK_RCYC

iref_cyc ID,PK_RCYC

z Parameters

CYCNO

ID number of the target cyclic handler

PK_RCYC

Pointer to the packet to which cyclic handler status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target cyclic handler

Pointer to the packet to which cyclic handler status is returned

[[ Error code ]]

None

[[ Functional description ]]

This service call returns various statuses of the cyclic handler indicated by cycid.

‹cycstat

The status of the target cyclic handler is returned.

*TCYC_STA

*TCYC_STP

Cyclic handler is an operational state.

Cyclic handler is a non-operational state.

‹lefttim

The remaining time before the target cyclic handler will start next is returned. This time is expressed in ms units.

If the target cyclic handler is non-operational state, the returned value is indeterminate.

If this service call is to be issued from task context, use ref_cyc; if issued from non-task context, use iref_cyc.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RCYC rcyc;

ER ercd;

ercd = ref_cyc( ID_CYC1, &rcyc );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

_ refcyc:

task:

task

.blkb 6

PUSH.W R2

PUSH.L A1

ref_cyc #ID_CYC1,#_refcyc

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5.11Time Management Function (Alarm Handler)

Specifications of the alarm handler function of MR100 are listed in Table 5.21. The alarm handler description languages in

item No. 4 are those specified in the GUI configurator. They are not output to a configuration file, nor are the MR100 ker-

nel concerned with them.

Table 5.21 Specifications of the Alarm Handler Function

No.

Item

Content

Alarm handler ID

Activation time

1-255

0-7fffffff [ms]

16 bits

Extended information

Alarm handler attribute

TA_HLNG:

TA_ASM:

Handlers written in high-level language

Handlers written in assembly language

Table 5.22 List of Alarm Handler Function Service Call

No.

Service Call

Function

System State

○

sta_alm

ista_alm

stp_alm

istp_alm

ref_alm

iref_alm

Starts alarm handler operation

○

Stops alarm handler operation

References alarm handler status

○

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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sta_alm

ista_alm

Start alarm handler operation

Start alarm handler operation (handler only)

[[ C Language API ]]

ER ercd = sta_alm( ID almid, RELTIM almtim );

ER ercd = ista_alm( ID almid, RELTIM almtim );

z Parameters

almid

ID number of the alarm handler to be operated

Alarm handler startup time (relative time)

RELTIM

almtim

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

sta_alm ALMID,ALMTIM

ista_alm ALMID,ALMTIM

z Parameters

ALMID

ID number of the alarm handler to be operated

ALMTIM

Alarm handler startup time (relative time)

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the alarm handler to be operated

Alarm handler startup time (relative time)

R6R4

[[ Error code ]]

None

[[ Functional description ]]

This service call sets the activation time of the alarm handler indicated by almid as a relative time of day after the lapse of

the time specified by almtim from the time at which it is invoked, and places the alarm handler into an operational state.

If an already operating alarm handler is specified, the previously set activation time is cleared and updated to a new activa-

tion time. If almtim = 0 is specified, the alarm handler starts at the next time tick. The values specified for almtim must be

within (0x7FFFFFFF – time tick value). If any value exceeding this limit is specified, the service call may not operate cor-

rectly. If 0 is specified for almtim , the alarm handler is started at the next time tick.

If this service call is to be issued from task context, use sta_alm; if issued from non-task context, use ista_alm.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

sta_alm ( ID_alm1,100 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W R2

PUSHM R6R4

sta_alm #ID_ALM1,#100

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stp_alm

istp_alm

Stop alarm handler operation

Stop alarm handler operation (handler only)

[[ C Language API ]]

ER ercd = stp_alm( ID almid );

ER ercd = istp_alm( ID almid );

z Parameters

almid

ID number of the alarm handler to be stopped

Terminated normally (E_OK)

z Return Parameters

ercd

[[ Assembly language API ]]

.include mr100.inc

stp_alm ALMID

istp_alm ALMID

z Parameters

ALMID

ID number of the alarm handler to be stopped

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the alarm handler to be stopped

[[ Error code ]]

None

[[ Functional description ]]

This service call places the alarm handler indicated by almid into a non-operational state.

If this service call is to be issued from task context, use stp_alm; if issued from non-task context, use istp_alm.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

stp_alm ( ID_alm1 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W R2

stp_alm #ID_ALM1

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ref_alm

iref_alm

Reference alarm handler status

Reference alarm handler status (handler only)

[[ C Language API ]]

ER ercd = ref_alm( ID almid, T_RALM *pk_ralm );

ER ercd = iref_alm( ID almid, T_RALM *pk_ralm );

z Parameters

almid

ID number of the target alarm handler

T_RALM

*pk_ralm

Pointer to the packet to which alarm handler status is returned

z Return Parameters

ercd

Terminated normally (E_OK)

T_RALM

*pk_ralm

Pointer to the packet to which alarm handler status is returned

Contents of pk_ralm

typedef

STAT

RELTIM lefttim

struct

t_ralm{

almstat

Operating status of alarm handler

This service call returns various statuses of the alarm handler

indicat

} T_RALM;

[[ Assembly language API ]]

.include mr100.inc

ref_alm ALMID,PK_RALM

iref_alm ALMID,PK_RALM

z Parameters

ALMID

ID number of the target alarm handler

PK_RALM

Pointer to the packet to which alarm handler status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target alarm handler

Pointer to the packet to which alarm handler status is returned

[[ Error code ]]

None

[[ Functional description ]]

This service call returns various statuses of the alarm handler indicated by almid.

‹almstat

The status of the target alarm handler is returned.

*TALM_STA

*TALM_STP

Alarm handler is an operational state.

Alarm handler is a non-operational state.

‹lefttim

The remaining time before the target alarm handler will start next is returned. This time is expressed in ms units.

If the target alarm handler is a non-operational state, the returned value is indeterminate.

If this service call is to be issued from task context, use ref_alm; if issued from non-task context, use iref_alm.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RALM ralm;

ER ercd;

ercd = ref_alm( ID_ALM1, &ralm );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

_ refalm:

task:

task

.blkb 6

PUSH.W R2

PUSH.L A1

ref_alm #ID_ALM1,#_refalm

- 167 -

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5.12System Status Management Function

Table 5.23 List of System Status Management Function Service Call

Service Call Function System State

Rotates task precedence

No.

rot_rdq

[S][B]

[S]

irot_rdq

get_tid

References task ID in the RUNNING state

Locks the CPU

iget_tid

loc_cpu

iloc_cpu

unl_cpu

iunl_cpu

dis_dsp

ena_dsp

sns_ctx

sns_loc

sns_dsp

sns_dpn

[S][B]

[S]

[S][B]

[S]

Unlocks the CPU

[S][B]

[S]

Disables dispatching

Enables dispatching

References context

References CPU state

References dispatching state

References dispatching pending state

[S]

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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rot_rdq

irot_rdq

Rotate task precedence

Rotate task precedence (handler only)

[[ C Language API ]]

ER ercd = rot_rdq( PRI tskpri );

ER ercd = irot_rdq( PRI tskpri );

z Parameters

PRI

tskpri

Task priority to be rotated

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

rot_rdq TSKPRI

irot_rdq TSKPRI

z Parameters

TSKPRI

Task priority to be rotated

z Register contents after service call is issued

Content after service call is issued

Error code

Task priority to be rotated

[[ Error code ]]

None

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[[ Functional description ]]

This service call rotates the ready queue whose priority is indicated by tskpri. In other words, it relocates the task enqueued

at the top of the ready queue of the specified priority by linking it to behind the tail of the ready queue, thereby switching

over the executed tasks that have the same priority. Figure 5-1 depicts the manner of how this is performed.

Proprity 1

Priority 2

・

TCB

Priority n

・

TCB

Moved to behind the tail of the queue

Figure 5-1. Manipulation of the ready queue by the rot_rdq service call

By issuing this service call at given intervals, it is possible to perform round robin scheduling. If tskpri=TPRI_SELF is

specified when using the rot_rdq service call, the ready queue whose priority is that of the issuing task is rotated.

TPRI_SELF cannot be specified in the irot_rdq service call. TPRI_SELF cannot be specified by irot_rdq service call.

However, an error is not returned even if it is specified.

If the priority of the issuing task itself is specified in this service call, the issuing task is relocated to behind the tail of the

ready queue in which it is enqueued. Note that if the ready queue of the specified priority has no tasks in it, no operation is

performed.

If this service call is to be issued from task context, use rot_rdq; if issued from non-task context, use irot_rdq.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

rot_rdq( 2 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W R3

rot_rdq #2

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get_tid

iget_tid

Reference task ID in the RUNNING state

(handler only)

[[ C Language API ]]

ER ercd = get_tid( ID *p_tskid );

ER ercd = iget_tid( ID *p_tskid );

z Parameters

*p_tskid

Pointer to task ID

z Return Parameters

ercd

Terminated normally (E_OK)

Pointer to task ID

*p_tskid

[[ Assembly language API ]]

.include mr100.inc

get_tid

iget_tid

z Parameters

None

z Register contents after service call is issued

Content after service call is issued

Error code

Acquired task ID

[[ Error code ]]

None

[[ Functional description ]]

This service call returns the task ID currently in RUNNING state to the area pointed to by p_tskid. If this service call is

issued from a task, the ID number of the issuing task is returned. If this service call is issued from non-task context, the task

ID being executed at that point in time is returned. If there are no tasks currently in an executing state, TSK_NONE is re-

turned.

If this service call is to be issued from task context, use get_tid; if issued from non-task context, use iget_tid.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

ID tskid;

get_tid(&tskid);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

get_tid

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loc_cpu

iloc_cpu

Lock the CPU

Lock the CPU (handler only)

[[ C Language API ]]

ER ercd = loc_cpu();

ER ercd = iloc_cpu();

z Parameters

None

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

loc_cpu

iloc_cpu

z Parameters

None

z Register contents after service call is issued

Content after service call is issued

Error code

[[ Error code ]]

None

[[ Functional description ]]

This service call places the system into a CPU locked state, thereby disabling interrupts and task dispatches. The features of

a CPU locked state are outlined below.

(1) No task scheduling is performed during a CPU locked state.

(2) No external interrupts are accepted unless their priority levels are higher than the kernel interrupt

mask level defined in the configurator.

(3) Only the following service calls can be invoked from a CPU locked state. If any other service calls

are invoked, operation of the service call cannot be guaranteed.

* ext_tsk

* loc_cpu, iloc_cpu

* unl_cpu, iunl_cpu

* sns_ctx

* sns_loc

* sns_dsp

* sns_dpn

The system is freed from a CPU locked state by one of the following operations.

(a) Invocation of the unl_cpu or iunl_cpu service call

(b) Invocation of the ext_tsk service call

Transitions between CPU locked and CPU unlocked states occur only when the loc_cpu, iloc_cpu, unl_cpu, iunl_cpu, or

ext_tsk service call is invoked. The system must always be in a CPU unlocked state when the interrupt handler or the time

event handler is terminated. If either handler terminates while the system is in a CPU locked state, handler operation cannot

be guaranteed. Note that the system is always in a CPU unlocked state when these handlers start.

Invoking this service call again while the system is already in a CPU locked state does not cause an error, in which case

task queuing is not performed, however.

If this service call is to be issued from task context, use loc_cpu; if issued from non-task context, use iloc_cpu.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

loc_cpu();

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

loc_cpu

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unl_cpu

iunl_cpu

Unlock the CPU

Unlock the CPU (handler only)

[[ C Language API ]]

ER ercd = unl_cpu();

ER ercd = iunl_cpu();

z Parameters

None

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

unl_cpu

iunl_cpu

z Parameters

None

z Register contents after service call is issued

Content after service call is issued

Error code

[[ Error code ]]

None

[[ Functional description ]]

This service call frees the system from a CPU locked state that was set by the loc_cpu or iloc_cpu service call. If the

unl_cpu service call is issued from a dispatching enabled state, task scheduling is performed. If the system was put into a

CPU locked state by invoking iloc_cpu within an interrupt handler, the system must always be placed out of a CPU locked

state by invoking iunl_cpu before it returns from the interrupt handler.

The CPU locked state and the dispatching disabled state are managed independently of each other. Therefore, the system

cannot be freed from a dispatching disabled state by the unl_cpu or iunl_cpu service call unless the ena_dsp service call is

used.

If this service call is to be issued from task context, use unl_cpu; if issued from non-task context, use iunl_cpu.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

unl_cpu();

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

unl_cpu

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dis_dsp

Disable dispatching

[[ C Language API ]]

ER ercd = dis_dsp();

z Parameters

None

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

dis_dsp

z Parameters

None

z Register contents after service call is issued

Content after service call is issued

Error code

[[ Error code ]]

None

[[ Functional description ]]

This service call places the system into a dispatching disabled state. The features of a dispatching disabled state are outlined

below.

(1) Since task scheduling is not performed anymore, no tasks other than the issuing task itself will be

placed into RUNNING state.

(2) Interrupts are accepted.

(3) No service calls can be invoked that will place tasks into WAITING state.

If one of the following operations is performed during a dispatching disabled state, the system status returns to a task exe-

cution state.

(a) Invocation of the ena_dsp service call

(b) Invocation of the ext_tsk service call

Transitions between dispatching disabled and dispatching enabled states occur only when the dis_dsp, ena_dsp, or ext_tsk

service call is invoked.

Invoking this service call again while the system is already in a dispatching disabled state does not cause an error, in which

case task queuing is not performed, however.

This service call can be issued only from task context. It cannot be issued from non-task context.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

dis_dsp();

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

dis_dsp

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ena_dsp

Enables dispatching

[[ C Language API ]]

ER ercd = ena_dsp();

z Parameters

None

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

ena_dsp

z Parameters

None

z Register contents after service call is issued

Content after service call is issued

Error code

[[ Error code ]]

None

[[ Functional description ]]

This service call frees the system from a dispatching disabled state that was set by the dis_dsp service call. As a result, task

scheduling is resumed when the system has entered a task execution state.

Invoking this service call from a task execution state does not cause an error, in which case task queuing is not performed,

however.

This service call can be issued only from task context. It cannot be issued from non-task context.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

ena_dsp();

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

ena_dsp

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sns_ctx

Reference context

[[ C Language API ]]

BOOL state = sns_ctx();

z Parameters

None

z Return Parameters

BOOL

state

TRUE: Non-task context

FALSE: Task context

[[ Assembly language API ]]

.include mr100.inc

sns_ctx

z Parameters

None

z Register contents after service call is issued

Content after service call is issued

TRUE:Non-Task context

FALSE: Task context

[[ Error code ]]

None

[[ Functional description ]]

This service call returns TRUE when it is invoked from non-task context, or returns FALSE when invoked from task con-

text. This service call can also be invoked from a CPU locked state.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

BOOL stat;

stat = sns_ctx();

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

sns_ctx

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sns_loc

Reference CPU state

[[ C Language API ]]

BOOL state = sns_loc();

z Parameters

None

z Return Parameters

BOOL

state

TRUE: CPU locked state

FALSE: CPU unlocked state

[[ Assembly language API ]]

.include mr100.inc

sns_loc

z Parameters

None

z Register contents after service call is issued

Content after service call is issued

TRUE: CPU locked state

FALSE:CPUCPU unlocked state

[[ Error code ]]

None

[[ Functional description ]]

This service call returns TRUE when the system is in a CPU locked state, or returns FALSE when the system is in a CPU

unlocked state. This service call can also be invoked from a CPU locked state.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

BOOL stat;

stat = sns_loc();

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

sns_loc

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sns_dsp

Reference dispatching state

[[ C Language API ]]

BOOL state = sns_dsp();

z Parameters

None

z Return Parameters

BOOL

state

TRUE: Dispatching disabled state

FALSE: Dispatching enabled state

[[ Assembly language API ]]

.include mr100.inc

sns_dsp

z Parameters

None

z Register contents after service call is issued

Content after service call is issued

TRUE: Dispatching disabled state

FALSE: Dispatching enabled state

[[ Error code ]]

None

[[ Functional description ]]

This service call returns TRUE when the system is in a dispatching disabled state, or returns FALSE when the system is in

a dispatching enabled state. This service call can also be invoked from a CPU locked state.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

BOOL stat;

stat = sns_dsp();

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

sns_dsp

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sns_dpn

Reference dispatching pending state

[[ C Language API ]]

BOOL state = sns_dpn();

z Parameters

None

z Return Parameters

BOOL

state

TRUE: Dispatching pending state

FALSE: Not dispatching pending state

[[ Assembly language API ]]

.include mr100.inc

sns_dpn

z Parameters

None

z Register contents after service call is issued

Content after service call is issued

TRUE: Dispatching pending state

FALSE: Not dispatching pending state

[[ Error code ]]

None

[[ Functional description ]]

This service call returns TRUE when the system is in a dispatching pending state, or returns FALSE when the system is not

in a dispatching pending state. More specifically, FALSE is returned when all of the following conditions are met; other-

wise, TRUE is returned.

(1) The system is not in a dispatching pending state.

(2) The system is not in a CPU locked state.

(3) The object made pending is a task.

This service call can also be invoked from a CPU locked state. It returns TRUE when the system is in a dispatching dis-

abled state, or returns FALSE when the system is in a dispatching enabled state.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

BOOL stat;

stat = sns_dpn();

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

sns_dpn

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5.13Interrupt Management Function

Table 5.24 List of Interrupt Management Function Service Call

No.

Service Call

ret_int

Function

System State

Returns from an interrupt handler

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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ret_int

Returns from an interrupt handler

(when written in assembly language)

[[ C Language API ]]

This service call cannot be written in C language.³⁶

[[ Assembly language API ]]

.include mr100.inc

ret_int

z Parameters

None

[[ Error code ]]

Not return to the interrupt handler that issued this service call.

[[ Functional description ]]

This service call performs the processing necessary to return from an interrupt handler. Depending on return processing, it

activates the scheduler to switch tasks from one to another.

If this service call is executed in an interrupt handler, task switching does not occur, and task switching is postponed until

the interrupt handler terminates.

However, if the ret_int service call is issued from an interrupt handler that was invoked from an interrupt that occurred

within another interrupt, the scheduler is not activated. The scheduler is activated for interrupts from a task only.

When writing this service call in assembly language, be aware that the service call cannot be issued from a subroutine that

is invoked from an interrupt handler entry routine. Always make sure this service call is executed in the entry routine or

entry function of an interrupt handler. For example, a program like the one shown below may not operate normally.

.include mr100.inc

/* NG */

.GLB intr

intr:

jsr.b func

func:

ret_int

Therefore, write the program as shown below.

.include mr100.inc

/* OK */

.GLB intr

intr:

jsr.b func

ret_int

func:

rts

Make sure this service call is issued from only an interrupt handler. If issued from a cyclic handler, alarm handler, or a task,

this service call may not operate normally.

If the starting function of an interrupt handler is declared by #pragma INTHANDLER, the ret_int service call is automatically issued at the

exit of the function.

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5.14System Configuration Management Function

Table 5.25 List of System Configuration Management Function Service Call

No.

Service Call

Function

System State

ref_ver

iref_ver

[S]

References version information

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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ref_ver

iref_ver

Reference version information

Reference version information (handler only)

[[ C Language API ]]

ER ercd = ref_ver( T_RVER *pk_rver );

ER ercd = iref_ver( T_RVER *pk_rver );

z Parameters

T_RVER

*pk_rver

Pointer to the packet to which version information is returned

Contents of pk_rver

typedef struct t_rver {

maker

prid

Kernel manufacturer code

Kernel identification number

ITRON specification version number

Kernel version number

spver

prver

prno[4]

Kernel product management information

} T_RVER;

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

ref_ver PK_VER

iref_ver PK_VER

z Parameters

PK_VER

Pointer to the packet to which version information is returned

z Register contents after service call is issued

Content after service call is issued

Error code

Pointer to the packet to which version information is returned

[[ Error code ]]

None

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[[ Functional description ]]

This service call reads out information about the version of the currently executing kernel and returns the result to the area

pointed to by pk_rver.

The following information is returned to the packet pointed to by pk_rver.

‹maker

The code H’0115 denoting Renesas Technology Corporation is returned.

‹prid

The internal identification code IDH’0014 of the M3T-MR100 is returned.

‹spver

The code H’5403 denoting that the kernel is compliant with µITRON Specification Ver 4.03.00 is returned.

‹prver

The code H’0100 denoting the version of the M3T-MR100/4 is returned.

‹prno

•

prno[0]

Reserved for future extension.

prno[1]

Reserved for future extension.

prno[2]

Reserved for future extension.

prno[3]

Reserved for future extension.

If this service call is to be issued from task context, use ref_ver; if issued from non-task context, use iref_ver.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RVER

pk_rver;

ref_ver( &pk_rver );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

_ refver:

task:

task

.blkb 16

PUSHM A1

ref_ver #_refver

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5.15Extended Function (Short Data Queue)

Specifications of the Short data queue function of MR100 are listed in Table 5.26. This function is outside the scope of

µITRON 4.0 Specification.

Table 5.26 Specifications of the Short Data Queue Function

No.

Item

Content

Data queue ID

1-255

Capacity (data bytes) in data queue area

Data size

0-16383

16 bits

Data queue attribute

TA_TFIFO:

Waiting tasks enqueued in order of FIFO

Waiting tasks enqueued in order of priority

TA_TPRI:

Table 5.27 List of Long Dataqueue Function Service Call

No.

Service Call

Function

System State

vsnd_dtq

vpsnd_dtq

vipsnd_dtq

vtsnd_dtq

vfsnd_dtq

vifsnd_dtq

vrcv_dtq

Sends to short data queue

Sends to short data queue (polling)

Sends to short data queue (with timeout)

Forced sends to short data queue

Receives from short data queue

vprcv_dtq

viprcv_dtq

vtrcv_dtq

vref_dtq

Receives from short data queue (polling)

Receives from short data queue (with timeout)

References short data queue status

viref_dtq

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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vsnd_dtq

Send to Short data queue

vpsnd_dtq

vipsnd_dtq

vtsnd_dtq

vfsnd_dtq

vifsnd_dtq

Send to Short data queue (polling)

Send to Short data queue (polling, handler only)

Send to Short data queue (with timeout)

Forced send to Short data queue

Forced send to Short data queue (handler only)

[[ C Language API ]]

ER ercd = vsnd_dtq( ID vdtqid, H data );

ER ercd = vpsnd_dtq( ID vdtqid, H data );

ER ercd = vipsnd_dtq( ID vdtqid, H data );

ER ercd = vtsnd_dtq( ID vdtqid, H data, TMO tmout );

ER ercd = vfsnd_dtq( ID vdtqid, H data );

ER ercd = vifsnd_dtq( ID vdtqid, H data );

z Parameters

vdtqid

tmout

data

ID number of the Short data queue to which transmitted

Timeout value(tsnd_dtq)

TMO

Data to be transmitted

z Return Parameters

ercd

Terminated normally (E_OK) or error code

[[ Assembly language API ]]

.include mr100.inc

vsnd_dtq

VDTQID, DTQDATA

visnd_dtq

vpsnd_dtq

vipsnd_dtq

vtsnd_dtq

vfsnd_dtq

vifsnd_dtq

VDTQID, DTQDATA

VDTQID, DTQDATA,TMO

VDTQID, DTQDATA

z Parameters

VDTQID

ID number of the Short data queue to which transmitted

DTQDATA Data to be transmitted

TMO Timeout value(tsnd_dtq)

z Register contents after service call is issued

vsnd_dtq,vpsnd_dtq,vipsnd_dtq,vfsnd_dtq,vifsnd_dtq

Content after service call is issued

Error code

Data to be transmitted

ID number of the Short data queue to which transmitted

vtsnd_dtq

Content after service call is issued

Error code

Data to be transmitted

ID number of the Short data queue to which transmitted

Timeout value

R6R4

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[[ Error code ]]

E_RLWAI

Forced release from waiting

E_TMOUT

Polling failure or timeout or timed out

E_ILUSE

Service call improperly used (vfsnd_dtq or vifsnd_dtq is issued for a Short data

queue whose dtqcnt = 0)

EV_RST

Released from a wait state by clearing of the Short data queue area

[[ Functional description ]]

This service call sends the signed 2-byte data indicated by data to the Short data queue indicated by vdtqid. If any task is

kept waiting for reception in the target Short data queue, the data is not stored in the Short data queue and instead sent to

the task at the top of the reception waiting queue, with which the task is released from the reception wait state.

On the other hand, if vsnd_dtq or vtsnd_dtq is issued for a Short data queue that is full of data, the task that issued the ser-

vice call goes from RUNNING state to a data transmission wait state, and is enqueued in a transmission waiting queue,

kept waiting for the Short data queue to become available. In that case, if the attribute of the specified Short data queue is

TA_TFIFO, the task is enqueued in order of FIFO; if TA_TPRI, the task is enqueued in order of priority. For vpsnd_dtq and

vipsnd_dtq, the task returns immediately and responds to the call with the error code E_TMOUT.

For the vtsnd_dtq service call, specify a wait time for tmout in ms units. The values specified for tmout must be within

(0x7FFFFFFF-time tick value). If any value exceeding this limit is specified, the service call may not operate correctly. If

TMO_POL=0 is specified for tmout, it means specifying 0 as a timeout value, in which case the service call operates the

same way as vpsnd_dtq. Furthermore, if specified as tmout=TMO_FEVR(–1), it means specifying an infinite wait, in

which case the service call operates the same way as vsnd_dtq.

If there are no tasks waiting for reception, nor is the Short data queue area filled, the transmitted data is stored in the Short

data queue.

The task placed into a wait state by execution of the vsnd_dtq or vtsnd_dtq service call is released from WAITING state in

the following cases:

‹When the vrcv_dtq, vtrcv_dtq, vprcv_dtq, or viprcv_dtq service call is issued before the tmout

time elapses, with task-awaking conditions thereby satisfied

The error code returned in this case is E_OK.

‹When the first time tick occurred after tmout elapsed while task-awaking conditions remain un-

satisfied

The error code returned in this case is E_TMOUT.

‹When the task is forcibly released from WAITING state by the rel_wai or irel_wai service call is-

sued from another task or a handler

The error code returned in this case is E_RLWAI.

‹When the target Short data queue being waited for is initialized by the vrst_vdtq service call is-

sued from another task

The error code returned in this case is EV_RST.

For vfsnd_dtq and vifsnd_dtq, the data at the top of the Short data queue or the oldest data is removed, and the transmitted

data is stored at the tail of the Short data queue. If the Short data queue area is not filled with data, vfsnd_dtq and

vifsnd_dtq operate the same way as vsnd_dtq. If dtqcnt = 0 ,there is no task in the wait queue and vfsnd_dtq or vifsnd_dtq

service call is issued, error code E_ILUSE will be returned.

If this service call is to be issued from task context, use vsnd_dtq,vtsnd_dtq,vpsnd_dtq,vfsnd_dtq; if issued from non-task

context, use vipsnd_dtq,vifsnd_dtq.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

H data[10];

void task(void)

{

if( vsnd_dtq( ID_dtq, data[0]) == E_RLWAI ){

error(“Forced released\n”);

}

if( vpsnd_dtq( ID_dtq, data[1])== E_TMOUT ){

error(“Timeout\n”);

}

if( vtsnd_dtq( ID_dtq, data[2], 10 ) != E_ TMOUT ){

error(“Timeout \n”);

}

if( vfsnd_dtq( ID_dtq, data[3]) != E_OK ){

error(“error\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task

_g_dtq: .WORD 1234H

task:

PUSH.W

PUSHM

R6R4

vtsnd_dtq #ID_DTQ1,_g_dtq,#100

PUSH.W

vpsnd_dtq #ID_DTQ2,#0FFFFH

PUSH.W

vfsnd_dtq #ID_DTQ3,#0ABCDH

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vrcv_dtq

Receive from Short data queue

vprcv_dtq

viprcv_dtq

vtrcv_dtq

Receive from Short data queue (polling)

Receive from Short data queue (polling,handler only)

Receive from Short data queue (with timeout)

[[ C Language API ]]

ER ercd = vrcv_dtq( ID dtqid, H *p_data );

ER ercd = vprcv_dtq( ID dtqid, H *p_data );

ER ercd = viprcv_dtq( ID dtqid, H *p_data );

ER ercd = vtrcv_dtq( ID dtqid, H *p_data, TMO tmout );

z Parameters

vdtqid

ID number of the Short data queue from which to receive

Timeout value(vtrcv_dtq)

TMO

tmout

*p_data

Pointer to the start of the area in which received data is stored

z Return Parameters

ercd

Terminated normally (E_OK) or error code

Pointer to the start of the area in which received data is stored

*p_data

[[ Assembly language API ]]

.include mr100.inc

vrcv_dtq

VDTQID

vprcv_dtq

viprcv_dtq

vtrcv_dtq

VDTQID,TMO

z Parameters

VDTQID

ID number of the Short data queue from which to receive

TMO

Timeout value(trcv_dtq)

z Register contents after service call is issued

vrcv_dtq,vprcv_dtq,viprcv_dtq

Content after service call is issued

Error code

Received data

ID number of the Short data queue from which to receive

vtrcv_dtq

Content after service call is issued

Error code

Received data

ID number of the Short data queue from which to receive

Timeout value

R6R4

[[ Error code ]]

E_RLWAI

Forced release from waiting

E_TMOUT

Polling failure or timeout or timed out

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[[ Functional description ]]

This service call receives data from the Short data queue indicated by vdtqid and stores the received data in the area pointed

to by p_data. If data is present in the target Short data queue, the data at the top of the queue or the oldest data is received.

This results in creating a free space in the Short data queue area, so that a task enqueued in a transmission waiting queue is

released from WAITING state, and starts sending data to the Short data queue area.

If no data exist in the Short data queue and there is any task waiting to send data (i.e., data bytes in the Short data queue

area = 0), data for the task at the top of the data transmission waiting queue is received. As a result, the task kept waiting to

send that data is released from WAITING state.

On the other hand, if vrcv_dtq or vtrcv_dtq is issued for the Short data queue which has no data stored in it, the task that

issued the service call goes from RUNNING state to a data reception wait state, and is enqueued in a data reception waiting

queue. At this time, the task is enqueued in order of FIFO. For the vprcv_dtq and viprcv_dtq service calls, the task returns

immediately and responds to the call with the error code E_TMOUT.

For the vtrcv_dtq service call, specify a wait time for tmout in ms units. The values specified for tmout must be within

0x7FFFFFFF. If any value exceeding this limit is specified, the service call may not operate correctly. If TMO_POL=0 is

specified for tmout, it means specifying 0 as a timeout value, in which case the service call operates the same way as

vprcv_dtq. Furthermore, if specified as tmout=TMO_FEVR(–1), it means specifying an infinite wait, in which case the

service call operates the same way as vrcv_dtq.

The task placed into a wait state by execution of the vrcv_dtq or vtrcv_dtq service call is released from the wait state in the

following cases:

‹When the vrcv_dtq, vtrcv_dtq, vprcv_dtq, or viprcv_dtq service call is issued before the tmout

time elapses, with task-awaking conditions thereby satisfied

The error code returned in this case is E_OK.

‹When the first time tick occurred after tmout elapsed while task-awaking conditions remain un-

satisfied

The error code returned in this case is E_TMOUT.

‹When the task is forcibly released from WAITING state by the rel_wai or irel_wai service call is-

sued from another task or a handler

The error code returned in this case is E_RLWAI.

If this service call is to be issued from task context, use vrcv_dtq,vtrcv_dtq,vprcv_dtq; if issued from non-task context, use

viprcv_dtq.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

H data;

if( vrcv_dtq( ID_dtq, &data ) != E_RLWAI )

error(“forced wakeup\n”);

if( vprcv_dtq( ID_dtq, &data ) != E_TMOUT )

error(“Timeout\n”);

if( vtrcv_dtq( ID_dtq, &data, 10 ) != E_TMOUT )

error(“Timeout\n”);

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

PUSHM

R6R4

vtrcv_dtq #ID_DTQ1,#TMO_POL

PUSH.W

vprcv_dtq #ID_DTQ2

PUSH.W

vrcv_dtq

#ID_DTQ2

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vref_dtq

viref_dtq

Reference Short data queue status

Reference Short data queue status (handler only)

[[ C Language API ]]

ER ercd = vref_dtq( ID vdtqid, T_RDTQ *pk_rdtq );

ER ercd = viref_dtq( ID vdtqid, T_RDTQ *pk_rdtq );

z Parameters

vdtqid

ID number of the target Short data queue

T_RDTQ

*pk_rdtq

Pointer to the packet to which Short data queue status is returned

z Return Parameters

ercd

Terminated normally (E_OK) or error code

T_RDTQ

*pk_rdtq

Pointer to the packet to which Short data queue status is returned

Contents of pk_rdtq

typedef struct

ID stskid

wtskid

sdtqcnt

t_rdtq{

Transmission waiting task ID

Reception waiting task ID

Data bytes contained in Short data queue

UINT

} T_RDTQ;

[[ Assembly language API ]]

.include mr100.inc

vref_dtq VDTQID, PK_RDTQ

viref_dtqVDTQID, PK_RDTQ

z Parameters

VDTQID

ID number of the target Short data queue

PK_RDTQ

Pointer to the packet to which Short data queue status is returned

z Register contents after service call is issued

Content after service call is issued

Error code

ID number of the target Short data queue

Pointer to the packet to which Short data queue status is returned

[[ Error code ]]

None

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[[ Functional description ]]

This service call returns various statuses of the Short data queue indicated by vdtqid.

‹stskid

Returned to stskid is the ID number of the task at the top of a transmission waiting queue (the next task to be de-

queued). If no tasks are kept waiting, TSK_NONE is returned.

‹wtskid

Returned to wtskid is the ID number of the task at the top of a reception waiting queue (the next task to be de-

queued). If no tasks are kept waiting, TSK_NONE is returned.

‹sdtqcnt

Returned to sdtqcnt is the number of data bytes stored in the Short data queue area.

If this service call is to be issued from task context, use ref_dtq; if issued from non-task context, use iref_dtq.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task()

{

T_RDTQ rdtq;

ER ercd;

ercd = vref_dtq( ID_DTQ1, &rdtq );

}

<<Example statement in assembly language>>

.include mr100.inc

_ refdtq:

.GLB

.blkb 8

task

task:

PUSH.W R2

PUSH.L A1

vref_dtq

#ID_DTQ1,#_refdtq

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5.16Extended Function (Reset Function)

This function initializes the content of an object. This function is outside the scope of µITRON 4.0 Specification.

Table 5.28 List of Reset Function Service Call

No.

Service Call

Function

System State

vrst_dtq

vrst_vdtq

vrst_mbx

vrst_mpf

vrst_mpl

Clear data queue area

Clear Short data queue area

Clear mailbox area

Clear fixed-size memory pool area

Clear variable-size memory pool area

Notes:

• [S]: Standard profile service calls

[B]: Basic profile service calls

• Each sign within " System State " is a following meaning.

♦

T: Can be called from task context

N: Can be called from non-task context

E: Can be called from dispatch-enabled state

D: Can be called from dispatch-disabled state

U: Can be called from CPU-unlocked state

L: Can be called from CPU-locked state

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vrst_dtq

Clear data queue area

[[ C Language API ]]

ER ercd = vrst_dtq( ID dtqid );

z Parameters

dtqid

Data queue ID to be cleared

Terminated normally (E_OK)

z Return Parameters

ercd

[[ Assembly language API ]]

.include mr100.inc

vrst_dtq DTQID

z Parameters

DTQID

Data queue ID to be cleared

z Register contents after service call is issued

Content after service call is issued

Error code

Data queue ID to be cleared

[[ Error code ]]

None

[[ Functional description ]]

This service call clears the data stored in the data queue indicated by dtqid. If the data queue area has no more areas to be

added and tasks are enqueued in a data transmission waiting queue, all of the tasks enqueued in the data transmission wait-

ing queue are released from WAITING state. Furthermore, the error code EV_RST is returned to the tasks that have been

released from WAITING state.

Even when the number of data queues defined is 0, all of the tasks enqueued in a data transmission waiting queue are re-

leased from WAITING state.

This service call can be issued only from task context. It cannot be issued from non-task context.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task1(void)

{

vrst_dtq( ID_dtq1 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

vrst_dtq

#ID_DTQ1

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vrst_vdtq

Clear Short data queue area

[[ C Language API ]]

ER ercd = vrst_vdtq( ID vdtqid );

z Parameters

vdtqid

Short data queue ID to be cleared

Terminated normally (E_OK)

z Return Parameters

ercd

[[ Assembly language API ]]

.include mr100.inc

vrst_vdtqVDTQID

z Parameters

VDTQID

Short data queue ID to be cleared

z Register contents after service call is issued

Content after service call is issued

Error code

Short data queue ID to be cleared

[[ Error code ]]

None

[[ Functional description ]]

This service call clears the data stored in the Short data queue indicated by vdtqid. If the Short data queue area has no more

areas to be added and tasks are enqueued in a data transmission waiting queue, all of the tasks enqueued in the data trans-

mission waiting queue are released from WAITING state. Furthermore, the error code EV_RST is returned to the tasks that

have been released from WAITING state.

Even when the number of Short data queues defined is 0, all of the tasks enqueued in a data transmission waiting queue are

released from WAITING state.

This service call can be issued only from task context. It cannot be issued from non-task context.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task1(void)

{

vrst_vdtq( ID_vdtq1 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

vrst_vdtq #ID_VDTQ1

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vrst_mbx

Clear mailbox area

[[ C Language API ]]

ER ercd = vrst_mbx( ID mbxid );

z Parameters

mbxid

Mailbox ID to be cleared

z Return Parameters

ercd

Terminated normally (E_OK)

[[ Assembly language API ]]

.include mr100.inc

vrst_mbx MBXID

z Parameters

MBXID

Mailbox ID to be cleared

z Register contents after service call is issued

Error code

Mailbox ID to be cleared

[[ Error code ]]

None

[[ Functional description ]]

This service call clears the messages stored in the mailbox indicated by mbxid.

This service call can be issued only from task context. It cannot be issued from non-task context.

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[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task1(void)

{

vrst_mbx( ID_mbx1 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

vrst_mbx

#ID_MBX1

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vrst_mpf

Clear fixed-size memory pool area

[[ C Language API ]]

ER ercd = vrst_mpf( ID mpfid );

z Parameters

mpfid

Fixed-size memory pool ID to be cleared

Terminated normally (E_OK)

z Return Parameters

ercd

[[ Assembly language API ]]

.include mr100.inc

vrst_mpf MPFID

z Parameters

MPFID

Fixed-size memory pool ID to be cleared

z Register contents after service call is issued

Content after service call is issued

Error code

Fixed-size memory pool ID to be cleared

[[ Error code ]]

None

[[ Functional description ]]

This service call initializes the fixed-size memory pool indicated by mpfid. If tasks are enqueued in a memory block wait-

ing queue, all of the tasks enqueued in the memory block waiting queue are released from WAITING state. Furthermore,

the error code EV_RST is returned to the tasks that have been released from WAITING state.

This service call can be issued only from task context. It cannot be issued from non-task context.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task1(void)

{

vrst_mpf( ID_mpf1 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

vrst_mpf

#ID_MPF1

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vrst_mpl

Clear variable-size memory pool area

[[ C Language API ]]

ER ercd = vrst_mpl( ID mplid );

z Parameters

mplid

Variable-size memory pool ID to be cleared

Terminated normally (E_OK)

z Return Parameters

ercd

[[ Assembly language API ]]

.include mr100.inc

vrst_mpl MPLID

z Parameters

MPLID

Variable-size memory pool ID to be cleared

z Register contents after service call is issued

Content after service call is issued

Error code

Variable-size memory pool ID to be cleared

[[ Error code ]]

None

[[ Functional description ]]

This service call initializes the variable-size memory pool indicated by mplid.

This service call can be issued only from task context. It cannot be issued from non-task context.

[[ Example program statement ]]

<<Example statement in C language>>

#include <itron.h>

#include <kernel.h>

#include “kernel_id.h”

void task1(void)

{

vrst_mpl( ID_mpl1 );

}

<<Example statement in assembly language>>

.include mr100.inc

.GLB

task:

task

PUSH.W

vrst_mpl

#ID_MPL1

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6. Applications Development Procedure

Overview

6.1 Overview

Application programs for MR100 should generally be developed following the procedure described below.

1. Generating a project

When using HEW³⁷, create a new project using MR100 on HEW.

2. Coding the application program

Write the application program in code form using C or assembly language. If necessary, correct the sample star-

tup program (crt0mr.a30) and section definition file (c_sec.inc or asm_sec.inc).

3. Creating a configuration file

Create a configuration file which has defined in it the task entry address, stack size, etc. by using an editor.

The GUI configurator available for MR100 may be used to create a configuration file.

4. Executing the configurator

From the configuration file, create system data definition files (sys_rom.inc, sys_ram.inc), include files

(mr100.inc, kernel_id.h).

5. System generation

Execute the make³⁸command or execute build on HEW to generate a system.

6. Writing to ROM

Using the ROM programming format file created, write the finished program file into the ROM. Or load it into

the debugger to debug.

Figure 6.1 shows a detailed flow of system generation.

It is abbreviation of High-performance Embedded Workshop.

The make command comes the UNIX standard and UNIX compatible.

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HEW

Configuration file

C standard

header file

MR100 include file

kernel.h

Configurator

cfg100

Include file

kernel_id.h

Include file

mr100.inc

Application

include file

System data definition file

sys_ram.inc, sys_rom.inc

Application

C source

Application

Assembler source

Startup program

start.a30, crt0mr.a30

C compiler

nc100

Jamp table file

mrtable.a30

Relocatable Assembler

as100

Create Jamp table utility

mr100tbl

Systemcall

file ( .mrc )

MR100/4

Application

object

C standard

Library

Linkage Editor

ln100

Absolute

module

Load module converter

lmc100

ROM write format

Figure 6.1 MR100 System Generation Detail Flowchart

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6.2 Development Procedure Example

This chapter outlines the development procedures on the basis of a typical MR100 application example.

6.2.1

Applications Program Coding

Figure 6.2 shows a program that simulates laser beam printer operations. Let us assume that the file describing the laser

beam printer simulation program is named lbp.c. This program consists of the following three tasks and one interrupt han-

dler.

• Main Task

• Image expansion task

• Printer engine task

• Centronics interface interrupt handler

This program uses the following MR100 library functions.

• sta_tsk()

Starts a task. Give the appropriate ID number as the argument to select the task to be activated. When the ker-

nel_id.h file, which is generated by the configurator, is included, it is possible to specify the task by name (char-

acter string).³⁹

• wai_flg()

Waits until the eventflag is set up. In the example, this function is used to wait until one page of data is entered into the

buffer via the Centronics interface.

• wup_tsk()

Wakes up a specified task from the WAITING state. This function is used to start the printer engine task.

• slp_tsk()

Causes a task in the RUNNING state to enter the WAITING state. In the example, this function is used to make

the printer engine task wait for image expansion.

• iset_flg()

Sets the eventflag. In the example, this function is used to notify the image expansion task of the completion of

one-page data input.

The configurator converts the ID number to the associated name(character string) in accordance with the information entered int the con-

figuration file.

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#include <itron.h>

#include <kernel.h>

#include "kernel_id.h"

void main() /* main task */

{

printf("LBP start simulation \n");

sta_tsk(ID_idle,1);

sta_tsk(ID_image,1);

/* activate idle task */

/* activate image expansion task */

sta_tsk(ID_printer,1); /* activate printer engine task */

}

void image() /* activate image expansion task */

{

while(1){

wai_flg(ID_pagein,waiptn,TWF_ANDW, &flgptn);/* wait for 1-page input */

printf(" bit map expansion processing \n");

wup_tsk(ID_printer); /* wake up printer engine task */

}

void printer() /* printer engine task */

{

while(1){

slp_tsk();

printf(" printer engine operation \n");

}

void sent_in() /* Centronics interface handler */

{

/* Process input from Centronics interface */

if ( /* 1-page input completed */ )

iset_flg(ID_pagein,setptn);

}

Figure 6.2 Program Example

6.2.2

Configuration File Preparation

Create a configuration file which has defined in it the task entry address, stack size, etc. Use of the GUI configurator avail-

able for MR100 helps to create a configuration file easily without having to learn how to write it.

Figure 6.3 Configuration File Example

shows an example configuration file for a laser beam printer simulation program (filename "lbp.cfg").

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// System Definition

system{

stack_size

priority

system_IPL

tick_nume

};

= 1024;

= 5;

= 4;

= 10;

//System Clock Definition

clock{

mpu_clock

timer

= 20MHz;

= A0;

IPL

= 4;

};

//Task Definition

task[1]{

name

entry_address

stack_size

priority

initial_start

};

= ID_main;

= main();

= 512;

= 1;

= ON;

task[2]{

name

entry_address

stack_size

priority

};

= ID_image;

= image();

= 512;

= 2;

task[3]{

name

entry_address

stack_size

priority

};

= ID_printer;

= printer();

= 512;

= 4;

task[4]{

name

entry_address

stack_size

priority

};

= ID_idle;

= idle();

= 256;

= 5;

//Eventflag Definition

flag[1]{

name

= pagein;

};

//Interrupt Vector Definition

interrupt_vector[0x23]{

os_int

entry_address

= YES;

= sent_in();

};

Figure 6.3 Configuration File Example

6.2.3

Configurator Execution

When using HEW, select "Build all," which enables the user to execute the procedures described in 6.2.3, "Executing the

Configurator," and 6.2.4, "System Generation."

Execute the configurator cfg100 to generate system data definition files (sys_rom.inc, sys_ram.inc), include files

(mr100.inc, kernel_id.h), and a system generation procedure description file (makefile) from the configuration file.

A> cfg100 -v lbp.cfg

MR100 system configurator V.1.00.18

MR100 version ==> V.1.01 Release 01

Figure 6.4 Configurator Execution

6.2.4

System generation

Execute the make command to generate the system.

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A> make -f makefile

as100 -F -Dtest=1 crt0mr.a30

nc100 -c task.c

ln100 @ln100.sub

Figure 6.5 System Generation

6.2.5

Writing ROM

Using the lmc30 load module converter, convert the absolute module file into a ROM writable format and then write it into

ROM. Or read the file into the debugger and debug it.

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7. Detailed Applications

7.1 Program Coding Procedure in C Language

7.1.1

Task Description Procedure

1. Describe the task as a function.

To register the task for the MR100, enter its function name in the configuration file. When, for instance, the

function name "task()" is to be registered as the task ID number 3, proceed as follows.

task[3]{

name

= ID_task;

entry_address = task();

stack_size

priority

= 100;

= 3;

};

2. At the beginning of file, be sure to include "itron.h",”kernel.h” which is in system directory

as well as "kernel_id.h" which is in the current directory. That is, be sure to enter the fol-

lowing two lines at the beginning of file.

#include <itron.h>

#include <kernel.h>

#include "kernel_id.h"

3. No return value is provided for the task start function. Therefore, declare the task start

function as a void function.

4. A function that is declared to be static cannot be registered as a task.

5. It isn't necessary to describe ext_tsk() at the exit of task start function.⁴⁰If you exit the task

from the subroutine in task start function, please describe ext_tsk() in the subroutine.

6. It is also possible to describe the task startup function, using the infinite loop.

#include <itron.h>

#include <kernel.h>

#include "kernel_id.h"

void task(void)

{

/* process */

}

Figure 7.1 Example Infinite Loop Task Described in C Language

The task is ended by ext_tsk() automatically if #pramga TASK is declared in the MR100. Similarly, it is ended by ext_tsk when returned

halfway of the function by return sentence.

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#include <itron.h>

#include <kernel.h>

#include "kernel_id.h"

void task(void)

{

for(;;){

/* process */

}

Figure 7.2 Example Task Terminating with ext_tsk() Described in C Language

7. To specify a task, use the string written in the task definition item “name” of the configura-

tion file.⁴¹

wup_tsk(ID_main);

8. To specify an event flag, semaphore, or mailbox, use the respective strings defined in the

configuration file.

For example, if an event flag is defined in the configuration file as shown below,

flag[1]{

name

= ID_abc;

};

To designate this eventflag, proceed as follows.

set_flg(ID_abc,&setptn);

9. To specify a cyclic or alarm handler, use the string written in the cyclic or alarm handler

definition item “name” of the configuration file.

sta_cyc(ID_cyc);

10. When a task is reactivated by the sta_tsk() service call after it has been terminated by the

ter_tsk() service call, the task itself starts from its initial state.⁴²However, the external va-

riable and static variable are not automatically initialized when the task is started. The ex-

ternal and static variables are initialized only by the startup program (crt0mr.a30), which

actuates before MR100 startup.

11. The task executed when the MR100 system starts up is setup.

12. The variable storage classification is described below.

The MR100 treats the C language variables as indicated in Table 7.1 C Language V a riable Treatment.

Table 7.1 C Language Variable Treatment

Variable storage class

Global Variable

Treatment

Variable shared by all tasks

Non-function static variable

Auto Variable

Variable shared by the tasks in the same file

Variable for specific task

Static variable in function

7.1.2

Writing a Kernel (OS Dependent) Interrupt Handler

When describing the kernel interrupt handler in C language, observe the following precautions.

The configurator generates the file “kernel_id.h” that is used to convert the ID number of a task into the string to be specified. This means

that the #define declaration necessary to convert the string specified in the task definition item “name” into the ID number of the task is

made in “kernel_id.h.” The same applies to the cyclic and alarm handlers.

The task starts from its start function with the initial priority in a wakeup counter cleared state.

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1. Describe the kernel interrupt handler as a function ⁴³

2. Be sure to use the void type to declare the interrupt handler start function return value and

argument.

3. At the beginning of file, be sure to include "itron.h",”kernel.h” which is in the system di-

rectory as well as "kernel_id.h" which is in the current directory.

4. Do not use the ret_int service call in the interrupt handler.⁴⁴

5. The static declared functions can not be registered as an interrupt handler.

#include <itron.h>

#include <kernel.h>

#include "kernel_id.h"

void inthand(void)

{

/* process */

iwup_tsk(ID_main);

}

Figure 7.3 Example of Kernel Interrupt Handler

7.1.3

Writing Non-kernel Interrupt Handler

When describing the non-kernel interrupt handler in C language, observe the following precautions.

1. Be sure to declare the return value and argument of the interrupt handler start function as

a void type.

2. No service call can be issued from a non-kernel interrupt handler.

NOTE: If this restriction is not observed, the software may malfunction.

3. A function that is declared to be static cannot be registered as an interrupt handler.

4. If you want multiple interrupts to be enabled in a non-kernel interrupt handler, always make

sure that the non-kernel interrupt handler is assigned a priority level higher than other

kernel interrupt handlers.⁴⁵

#include <itron.h>

#include <kernel.h>

#include "kernel_id.h"

void inthand(void)

{

/* process */

}

Figure 7.4 Example of Non-kernel Interrupt Handler

7.1.4

Writing Cyclic Handler/Alarm Handler

When describing the cyclic or alarm handler in C language, observe the following precautions.

A configuration file is used to define the relationship between handlers and functions.

When an kernel interrupt handler is declared with #pragma INTHANDLER ,code for the ret_int service call is automatically generated.

If you want the non-kernel interrupt handler to be assigned a priority level lower than kernel interrupt handlers, change the description of

the non-kernel interrupt handler to that of the kernel interrupt handler.

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1. Describe the cyclic or alarm handler as a function.⁴⁶

2. Be sure to declare the return value and argument of the interrupt handler start function as

a void type.

3. At the beginning of file, be sure to include "itron.h",”kernel.h” which is in the system di-

rectory as well as "kernel_id.h" which is in the current directory.

4. The static declared functions cannot be registered as a cyclic handler or alarm handler.

5. The cyclic handler and alarm handler are invoked by a subroutine call from a system clock

interrupt handler.

#include <itron.h>

#include <kernel.h>

#include "kernel_id.h"

void cychand(void)

{

/*process */

}

Figure 7.5 Example Cyclic Handler Written in C Language

The handler-to-function name correlation is determined by the configuration file.

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7.2 Program Coding Procedure in Assembly Language

This section describes how to write an application using the assembly language.

7.2.1

Writing Task

This section describes how to write an application using the assembly language.

1. Be sure to include "mr100.inc" at the beginning of file.

2. For the symbol indicating the task start address, make the external declaration.⁴⁷

3. Be sure that an infinite loop is formed for the task or the task is terminated by the ext_tsk

service call.

.INCLUDE mr100.inc ----- (1)

.GLB

task

----- (2)

task:

; process

jmp task

----- (3)

Figure 7.6 Example Infinite Loop Task Described in Assembly Language

.INCLUDE mr100.inc

.GLB

task

task:

; process

ext_tsk

Figure 7.7 Example Task Terminating with ext_tsk Described in Assembly Language

4. The initial register values at task startup are indeterminate except the PC, SB, R0 and FLG

registers.

5. To specify a task, use the string written in the task definition item “name” of the configura-

tion file.

wup_tsk #ID_task

6. To specify an event flag, semaphore, or mailbox, use the respective strings defined in the

configuration file.

For example, if a semaphore is defined in the configuration file as shown below,:

semaphore[1]{

name

= abc;

};

To specify this semaphore, write your specification as follows:

sig_sem #ID_abc

7. To specify a cyclic or alarm handler, use the string written in the cyclic or alarm handler

definition item “name” of the configuration file

For example, if you want to specify a cyclic handler "cyc," write your specification as follows:

sta_cyc #ID_cyc

Use the .GLB pseudo-directive

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8. Set a task that is activated at MR100 system startup in the configuration file ⁴⁸

7.2.2

Writing Kernel Interrupt Handler

When describing the kernel interrupt handler in assembly language, observe the following precautions

1. At the beginning of file, be sure to include "mr100.inc" which is in the system directory.

2. For the symbol indicating the interrupt handler start address, make the external declara-

tion(Global declaration).⁴⁹

3. Make sure that the registers used in a handler are saved at the entry and are restored after

use.

4. Return to the task by ret_int service call.

.INCLUDE mr100.inc

.GLB inth

------(1)

------(2)

inth:

; Registers used are saved to a stack ------(3)

iwup_tsk #ID_task1

process

; Registers used are restored ------(3)

ret_int

------(4)

Figure 7.8 Example of kernel(OS-depend) interrupt handler

7.2.3

Writing Non-kernel Interrupt Handler

1. For the symbol indicating the interrupt handler start address, make the external declaration

(public declaration).

2. Make sure that the registers used in a handler are saved at the entry and are restored after

use.

3. Be sure to end the handler by REIT instruction.

4. No service calls can be issued from a non-kernel interrupt handler.

NOTE: If this restriction is not observed, the software may malfunction.

5. If you want multiple interrupts to be enabled in a non-kernel interrupt handler, always make

sure that the non-kernel interrupt handler is assigned a priority level higher than other

non-kernel interrupt handlers.⁵⁰

.GLB

inthand

----- (1)

inthand:

; Registers used are saved to a stack

; interrupt process

----- (2)

; Registers used are restored

REIT

----- (2)

----- (3)

Figure 7.9 Example of Non-kernel Interrupt Handler of Specific Level

7.2.4

Writing Cyclic Handler/Alarm Handler

When describing the cyclic or alarm handler in Assembly Language, observe the following precautions.

The relationship between task ID numbers and tasks(program) is defined in the configuration file.

Use the .GLB peudo-directive.

If you want the non-kernel interrupt handler to be assigned a priority level lower than kernel interrupt handlers, change the description of

the non-kernel interrupt handler to that of the kernel interrupt handler.

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1. At the beginning of file, be sure to include "mr100.inc" which is in the system directory.

2. For the symbol indicating the handler start address, make the external declaration.⁵¹

3. Always use the RTS instruction (subroutine return instruction) to return from cyclic han-

dlers and alarm handlers.

For examples:

.INCLUDE

.GLB

mr100.inc

cychand

----- (1)

----- (2)

cychand:

; handler process

rts

----- (3)

Figure 7.10 Example Handler Written in Assembly Language

Use the .GLB pseudo-directive.

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7.3 Modifying MR100 Startup Program

MR100 comes with two types of startup programs as described below.

• start.a30

This startup program is used when you created a program using the assembly language.

• crt0mr.a30

This startup program is used when you created a program using the C language.

This program is derived from "start.a30" by adding an initialization routine in C language.

The startup programs perform the following:

• Initialize the processor after a reset.

• Initialize C language variables (crt0mr.a30 only).

• Set the system timer.

• Initialize MR100's data area.

Copy these startup programs from the directory indicated by environment variable "LIB100" to the current directory.

If necessary, correct or add the sections below:

• Setting processor mode register

Set a processor mode matched to your system to the processor mode register. (58-60th line in crt0mr.a30)

• Adding user-required initialization program

When there is an initialization program that is required for your application, add it to the 140th line in the C

language startup program (crt0mr.a30).

• Enable the 138th – 139th line in the C language startup program (crt0mr.a30) if standard I/O function is

used.

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7.3.1

C Language Startup Program (crt0mr.a30)

Figure 7.11 shows the C language startup program(crt0mr.a30).

1 ; ****************************************************************

2 ;

3 ;

4 ;

5 ;

6 ;

7 ;

MR100 start up program for C language

MR100

8 ; ****************************************************************

9 ; "$Id: crt0mr.a30 512 2007-07-09 10:11:36Z inui $"

10 ;*A1* 2005-02-28 for ES

11 ;*G0* 2006-06-15 for MR100/4

12 ;

.LIST OFF

.INCLUDE

.LIST ON

c_sec.inc

mr100.inc

sys_rom.inc

sys_ram.inc

.GLB

__SYS_INITIAL

__END_INIT

__init_sys,__init_tsk

24 regoffset

.EQU

26 ;-----------------------------------------------------------------

27 ; SBDATA area definition

28 ;-----------------------------------------------------------------

.GLB

.SB

__SB__

32 ;=================================================================

33 ; Initialize Macro declaration

34 ;-----------------------------------------------------------------

35 BZERO

.macro

TOP_,SECT_

XOR.B

R0L,R0L

mov.l

sstr.b

.endm

#TOP_,A1

#sizeof SECT_,R7R5

41 BCOPY

.macro

FROM_,TO_,SECT_

#FROM_,A0

mov.l

smovf.b

.endm

#TO_,A1

#sizeof SECT_,R7R5

47 ;=================================================================

48 ; Interrupt section start

49 ;-----------------------------------------------------------------

.SECTION

MR_KERNEL,CODE,ALIGN

52 ;-----------------------------------------------------------------

53 ; after reset,this program will start

54 ;-----------------------------------------------------------------

55 __SYS_INITIAL:

LDC

#__Sys_Sp,ISP ; set initial ISP

58 ;

59 ;

60 ;

MOV.B #2,0AH

MOV.B #00,PMOD

MOV.B #0,0AH

; Set Processor Mode Register

;

LDC

#00000010H,FLG

#__SB__,SB

#00000000H,FLG

#__Sys_Sp,FB

#__SB__,SB

67 ;=================================================================

68 ; MR_RAM zero clear

69 ;--------------------------------------------------------

BZERO MR_RAM_top,MR_RAM

72 ;=================================================================

73 ; NEAR area initialize.

74 ; FAR area initialize.

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75 ;--------------------------------------------------------

76 ; bss zero clear

77 ;--------------------------------------------------------

82 ;

;-------------------------------------------------------;

; zero clear BSS

;-------------------------------------------------------;

;

BZERO

bss_SB8_top, bss_SB8

bss_SB16_top, bss_SB16

bss_NEAR_top, bss_NEAR

bss_FAR_top, bss_FAR

bss_EXT_top, bss_EXT

bss_MON1_top, bss_MON1

bss_MON2_top, bss_MON2

bss_MON3_top, bss_MON3

bss_MON4_top, bss_MON4

91 ;--------------------------------------------------------

92 ; initialize data section

93 ;--------------------------------------------------------

;-------------------------------------------------------;

; initialize DATA

;-------------------------------------------------------;

;

98 ;

BCOPY

data_SB8_INIT_top, data_SB8_top, data_SB8

data_SB16_INIT_top, data_SB16_top, data_SB16

data_NEAR_INIT_top, data_NEAR_top, data_NEAR

data_FAR_INIT_top, data_FAR_top, data_FAR

data_EXT_INIT_top, data_EXT_top, data_EXT

data_MON1_INIT_top, data_MON1_top, data_MON1

data_MON2_INIT_top, data_MON2_top, data_MON2

data_MON3_INIT_top, data_MON3_top, data_MON3

data_MON4_INIT_top, data_MON4_top, data_MON4

100

101

102

103

104

105

106

107

108 ;-----------------------------------------------------------------

109 ; Set System IPL and Set Interrupt Vector

110 ;-----------------------------------------------------------------

111

112

113

__INI_IPL

LDC #__INT_VECTOR,INTB

;*G0*

114 ; +-----------------------------------------------------+

115 ; | System timer interrupt setting

116 ; +-----------------------------------------------------+

117

118

119

120

121

122

123

.IF

USE_TIMER

MOV.B #stmr_mod_val,stmr_mod_reg+regoffset

MOV.W #stmr_cnt,stmr_ctr_reg+regoffset

MOV.B #stmr_int_IPL,stmr_int_reg

OR.B

.ENDIF

; set timer mode

; set interval count

; set timer IPL

#stmr_bit+1,stmr_start+regoffset

; system timer start

124 ; +-----------------------------------------------------+

125 ; | System timer initialize

126 ; +-----------------------------------------------------+

127

128

129

130

131

132

133

.IF

USE_SYSTEM_TIME

MOV.W #__D_Sys_TIME_L,__Sys_time+4

MOV.W #__D_Sys_TIME_M,__Sys_time+2

MOV.W #__D_Sys_TIME_H,__Sys_time

.ENDIF

MOV.L #0,__HEAP_TMR

134 ; +-----------------------------------------------------+

135 ; | User Initial Routine ( if there are )

136 ; +-----------------------------------------------------+

137 ; Initialize standard I/O

138 ;

139 ;

140

.GLB

JSR.A __init

__init

141 ; +-----------------------------------------------------+

142 ; | Initalization of System Data Area

143 ; +-----------------------------------------------------+

144

145

146

147

148

149

150

151

152

153

154

.GLB

__init_heap

JSR.W __init_sys

JSR.W __init_tsk

JSR.W __init_heap

.IF

.GLB

JSR.W __init_flg

.ENDIF

__NUM_FLG

__init_flg

.IF

.GLB

__NUM_SEM

__init_sem

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155

156

157

158

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

186

187

188

189

190

191

192

193

194

195

196

197

198

JSR.W __init_sem

.ENDIF

.IF

.GLB

__NUM_DTQ

__init_dtq

JSR.W __init_dtq

.ENDIF

.IF

.GLB

__NUM_VDTQ

__init_vdtq

;*A1*

JSR.W __init_vdtq

.ENDIF

.IF

.GLB

__NUM_MBX

__init_mbx

JSR.W __init_mbx

.ENDIF

.IF

.GLB

ALARM_HANDLER

__init_alh

JSR.W __init_alh

.ENDIF

.IF

.GLB

CYCLIC_HANDLER

__init_cyh

JSR.W __init_cyh

.ENDIF

.IF

; Fixed Memory Pool

.GLB __init_mpf

__NUM_MPF

;*A1*

JSR.W __init_mpf

.ENDIF

.IF

; Variable Memory Pool

.GLB __init_mpl

__NUM_MPL

JSR.W __init_mpl

.ENDIF

; For PD100

__LAST_INITIAL

199 __END_INIT:

200

201 ; +-----------------------------------------------------+

202 ; | Start initial active task

203 ; +-----------------------------------------------------+

204

205

206

207

208

__START_TASK

.GLB

__rdyq_search

JMP.W __rdyq_search

209 ; +---------------------------------------------+

210 ; | Define Dummy

211 ; +---------------------------------------------+

212 .GLB __SYS_DMY_INH

213 __SYS_DMY_INH:

214

215

REIT

216 .IF CUSTOM_SYS_END

217 ; +---------------------------------------------+

218 ; | Syscall exit rouitne to customize

219 ; +---------------------------------------------+

220

.GLB

__sys_end

221 __sys_end:

222

223

; Customize here.

REIT

224 .ENDIF

225

226 ; +---------------------------------------------+

227 ; |

exit() function

228 ; +---------------------------------------------+

229

.GLB

_exit,$exit

230 _exit:

231 $exit:

232

JMP

_exit

233

234 .IF USE_TIMER

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235 ; +---------------------------------------------+

236 ; | System clock interrupt handler

237 ; +---------------------------------------------+

238

239

.GLB

.ALIGN

__SYS_STMR_INH

240 __SYS_STMR_INH:

241

242

243

244

245

246

247

248

; process issue system call

; For PD100

__ISSUE_SYSCALL

; System timer interrupt handler

_STMR_hdr

ret_int

249 .ENDIF

250

251

.END

252

253 ; ****************************************************************

254 ;

255 ;

; ****************************************************************

Figure 7.11 C Language Startup Program (crt0mr.a30)

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The following explains the content of the C language startup program (crt0mr.a30).

4. Incorporate a section definition file [14 in Figure 7.11]

5. Incorporate an include file for MR100 [15 in Figure 7.11]

6. Incorporate a system ROM area definition file [16 in Figure 7.11]

7. Incorporate a system RAM area definition file [17 in Figure 7.11]

8. This is the initialization program __SYS_INITIAL that is activated immediately after a reset.

[55 - 207 in Figure 7.11]

♦

Setting the System Stack pointer [56 in Figure 7.11]

Setting the SB,FB register [61 - 65 in Figure 7.11]

Initial set the C language. [72 - 105 in Figure 7.11]

Setting kernel interrupt mask level [111 in Figure 7.11]

Setting the address of interrupt vector table [112 in Figure 7.11]

Set MR100's system clock interrupt [114-122 in Figure 7.11]

Initial set MR100's system timer [124-132 in Figure 7.11]

9. Initial set parameters inherent in the application [140 in Figure 7.11]

10. Initialize the RAM data used by MR100 [141- 197 in Figure 7.11]

11. Activate the initial startup task. [201-207 in Figure 7.11]

12. This is a system clock interrupt handler [235-248 in Figure 7.11]

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7.4 Memory Allocation

This section describes how memory is allocated for the application program data.

Use the section file provided by MR100 to set memory allocation.

MR100 comes with the following two types of section files:

• asm_sec.inc

This file is used when you developed your applications with the assembly language.

• c_sec.inc

This file is used when you developed your applications with the C language.

c_sec.inc is derived from "asm_sec.inc" by adding sections generated by C compiler NC100.

Modify the section allocation and start address settings in this file to suit your system.

The following shows how to modify the section file.

e.g.

If you want to change the rom_FAR section start address from FFE00000H to FFF00000H

;-----------------------------------------------------------------------;

; FAR ROM SECTIONS

;

;-----------------------------------------------------------------------;

.section

.org

rom_FAR, romdata

0FFE00000H

rom_FAR_top:

↓

.section

.org

rom_FAR, romdata

0FFF00000H

rom_FAR_top:

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7.4.1

Section used by the MR100

The sample section file for the C language is "asm_sec.inc". The sample section file for the assembly language is

"asm_sec.inc". Edit these files if section reallocation is required.

The following explains each section that is used by the MR100.

• MR_RAM section

This section is where the RAM data, MR100's system management data, is stored that is referenced in absolute

addressing.

• stack section

This section is provided for each task's user stack and system stack.

• MR_HEAP section

This section stores the variable-size memorypool.

• MR_KERNEL section

This section is where the MR100 kernel program is stored.

• MR_CIF section

This section stores the MR100 C language interface library.

• MR_ROM section

This section stores data such as task start addresses that area referenced by the MR100 kernel.

• program section

This section stores user programs.

This section is not used by the MR100 kernel at all. Therefore, you can use this section as desired.

• INTERRUPT_VECTOR section

• FIX_INTERRUPT_VECTOR section

This section stores interrupt vectors. The start address of this section varies with the type of microcomputer used.

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8. Using Configurator

8.1 Configuration File Creation Procedure

When applications program coding and startup program modification are completed, it is then necessary to register the ap-

plications program in the MR100 system.

This registration is accomplished by the configuration file.

8.1.1

Configuration File Data Entry Format

This chapter describes how the definition data are entered in the configuration file.

Comment Statement

A statement from '//' to the end of a line is assumed to be a comment and not operated on.

End of statement

Statements are terminated by ';'.

Numerical Value

Numerical values can be entered in the following format.

• Hexadecimal Number

Add "0x" or "0X" to the beginning of a numerical value, or "h" or "H" to the end. If the value begins with an al-

phabetical letter between A and F with "h" or "H" attached to the end, be sure to add "0" to the beginning. Note

that the system does not distinguish between the upper- and lower-case alphabetical characters (A-F) used as

numerical values.⁵²

• Decimal Number

Use an integer only as in '23'. However, it must not begin with '0'.

• Octal Numbers

Add '0' to the beginning of a numerical value of 'O' or 'o' to end.

• Binary Numbers

Add 'B' or 'b' to the end of a numerical value. It must not begin with '0'.

Table 8.1 Numerical Value Entry Examples

0xf12

0Xf12

0a12h

Hexadecimal

0a12H

12h

12H

Decimal

Octal

017

17o

17O

Binary

101110b

101010B

The system distinguishes between the upper- and lower-case letters except for the numbers A-F and a-f.

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It is also possible to enter operators in numerical values. Table 8.2 Operators lists the operators available.

Table 8.2 Operators

Operator

Priority

High

Direction of computation

From left to right

()

From right to left

- (Unary_minus)

∗ / %

+ - (Binary_minus)

From left to right

Low

From loft to right

13.

Numerical value examples are presented below.

• 123

• 123 + 0x23

• (23/4 + 3) ∗ 2

• 100B + 0aH

Symbol

The symbols are indicated by a character string that consists of numerals, upper- and lower-case alphabetical let-

ters, _(underscore), and ?, and begins with a non-numeric character.

Example symbols are presented below.

• _TASK1

• IDLE3

Function Name

The function names are indicated by a character string that consists of numerals, upper and lower-case alpha-

betical letters,'$'(dollar) and '_'(underscore), begins with a non-numeric character, and ends with '()'.

The following shows an example of a function name written in the C language.

• main()

• func()

When written in the assembly language, the start label of a module is assumed to be a function name.

Frequency

The frequency is indicated by a character string that consist of numerals and . (period), and ends with MHz. The

numerical values are significant up to six decimal places. Also note that the frequency can be entered using de-

cimal numbers only.

Frequency entry examples are presented below.

• 16MHz

• 8.1234MHz

It is also well to remember that the frequency must not begin with . (period).

Time

The time is indicated by a character string that consists of numerals and . (period), and ends with ms. The time

values are effective up to three decimal places when the character string is terminated with ms. Also note that the

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time can be entered using decimal numbers only.

• 10ms

• 10.5ms

It is also well to remember that the time must not begin with . (period).

8.1.2

Configuration File Definition Items

The following definitions ⁵³are to be formulated in the configuration file

• System definition

• System clock definition

• Respective maximum number of items

• Task definition

• Eventflag definition

• Semaphore definition

• Mailbox definition

• Data queue definition

• Short data queue definition

• Fixed-size Memory Pool definition

• Variable-size Memory Pool definition

• Cyclic handler definition

• Alarm handler definition

• Interrupt vector definition

[( System Definition Procedure )]

<< Format >>

// System Definition

system{

stack_size

;

System stack size

priority

= Ma

;

ximum value of priority

system_IPL

tic_deno

tic_nume

;

Kernel mask level

Time tick denominator

;

Time tick numerator

Maximum message priority value

message_pri

;

};

All items except task definition can omitted. If omitted, definitions in the default configuration file are referenced.

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<< Content >>

1. System stack size

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

6 or more

400H

Define the total stack size used in service call and interrupt processing.

2. Maximum value of priority (value of lowest priority)

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

Define the maximum value of priority used in MR100's application programs. This must be the value of the

highest priority used.

3. Kernel mask level

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 7

Set the IPL value in service calls, that is, the OS interrupt disable level.

4. Time tick denominator

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

Fixed to 1

Set the denominator of the time tick.

5. Time tick numerator

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 65,535

Set the numerator of the time tick. The system clock interrupt interval is determined by the time tick denomina-

tor and numerator that are set here. The interval is the time tick numerator divided by time tick denominator [ms].

That is, the time tick numerator [ms].

6. Maximum message priority value

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

None

Define the maximum value of message priority.

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[( System Clock Definition Procedure )]

<< Format >>

// System Clock Definition

clock{

timer_clock

timer

IPL

;

MPU clock

Timers used for system clock

;

System clock interrupt priority level

};

<< Content >>

1. MPU clock

[( Definition format)]

[( Definition range )]

[( Default value )]

Frequency(in MHz)

None

15MHz

Define the MPU operating clock frequency of the microcomputer in MHz units.

2. Timers used for system clock

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

A0, A1, A2, A3, A4, A5,A6,A7,B0, B1, B2, B3, B4, B5, OTHER, NOTIMER

NOTIMER

The frequency of the circumference functional clock supplied to a system timer is defined per MHz. With this

product, f1 or f8 is chosen as count sauce, and a value is set as a timer Ai register and a timer Bi register. There-

fore, overflow may occur depending on the value of timer_clock, and the value of tick_nume of a system defini-

tion. In this case, OTHER must be set as the timer used for a system clock, and a system timer must be initial-

ized by the user side.

If you do not use a system clock, define "NOTIMER."

3. System clock interrupt priority level

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to Kernel mask level in system definition

Define the priority level of the system clock timer interrupt. The value set here must be smaller than the kernel

interrupt mask level.

Interrupts whose priority levels are below the interrupt level defined here are not accepted during system clock

interrupt handler processing.

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[( Definition respective maximum numbers of items )]

Here, define respective maximum numbers of items to be used in two or more applications.

<< Format >>

// Max Definition

maxdefine{

max_task =

;

the maximum number of tasks defined

max_flag =

;

the maximum number of eventflags defined

the maximum number of data queues defined

max_dtq

max_mbx

max_sem

max_mpf

;

the maximum number of mailboxes defined

the maximum number of semaphores defined

the maximum number of fixed-size

;

memory pools defined

max_mpl

max_cyh

max_alh

the maximum number of variable-size

;

memory pools defined

the maximum number of cyclic handlers

;

defined

the maximum number of alarm handlers

;

defined

the maximum number of short data queues defined

max_vdtq =

;

};

<< Contents >>

1. The maximum number of tasks defined

[( Definition format )]

Numeric value

1 to 255

[( Definition range )]

[( Default value )]

None

Define the maximum number of tasks defined.

2. The maximum number of eventflags defined

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

None

3. The maximum number of data queues defined.

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

None

Define the maximum number of data queues defined.

4. The maximum number of mailboxes defined

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

None

Define the maximum number of mailboxes defined.

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5. The maximum number of semaphores defined

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

None

Define the maximum number of semaphores defined.

6. The maximum number of fixed-size memory pools defined

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

None

7. The maximum number of variable length memory blocks defined.

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

None

Define the maximum number of variable length memory blocks defined.

8. The maximum number of cyclic activation handlers defined

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

None

The maximum number of cyclic handler defined

9. The maximum number of alarm handler defined

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

None

Define the maximum number of alarm handlers defined.

10. The maximum number of short data queues defined.

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 255

None

Define the maximum number of short data queues defined.

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[( Task definition )]

<< Format >>

// Tasks Definition

task[ ]{

name

entry_address =

ID No.

;

ID name

Start task of address

User stack size of task

Initial priority of task

;

stack_size

priority

context

;

Registers used

Section name in which the stack is located

TA_ACT attribute (initial startup state)

stack_section =

initial_start =

;

exinf

;

Extended information

};

The ID number must be in the range of 1 to 255. The ID number can be omitted.

If omitted, numbers are automatically assigned sequentially beginning with the smallest.

<< Content >>

Define the following for each task ID number.

1. Task ID name

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

Define the ID name of a task. Note that the function name defined here is output to the kernel_id.h file, as shown

below.

#define Task ID Name task ID

2. Start address of task

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol or function name

None

Define the entry address of a task. When written in the C language, add () at the end or _at the beginning of the

function name you have defined.

The function name defined here causes the following declaration statement to be output in the kernel_id.h file:

#pragma TASK /V4 Function Name

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3. User stack size of task

[( Definition format )]

Numeric value

12 or more

256

[( Definition range )]

[( Default value )]

Define the user stack size for each task. The user stack means a stack area used by each individual task. MR100

requires that a user stack area be allocated for each task, which amount to at least 12 bytes.

4. Initial priority of task

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to (maximum value of priority in system definition)

Define the priority of a task at startup time.

As for MR100's priority, the lower the value, the higher the priority.

5. Regisers Used

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol[,Symbol,....]

Selected from R2R0,R3R1,R6R4,R7R5,A0,A1,A2,A3,SB,FB

All registers

Define the registers used in a task. MR100 handles the register defined here as a context. Specify the R2R0 reg-

ister because task startup code is set in it when the task starts.

However, the registers used can only be selected when the task is written in the assembly language. Select all

registers when the task is written in the C language. When selecting a register here, be sure to select all registers

that store service call parameters used in each task.

MR100 kernel does not change the registers of bank.

If this definition is omitted, it is assumed that all registers are selected.

6. Section name in which the stack is located

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

stack

Define the section name in which the stack is located. The section defined here must always have an area allo-

cated for it in the section file (asm_sec.inc or c_sec.inc).

If no section names are defined, the stack is located in the stack section.

7. TA_ACT attribute (initial startup state)

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

ON or OFF

OFF

Define the initial startup state of a task.

If this attribute is specified ON, the task goes to a READY state at the initial system startup time.

The task startup code of the initial startup task is the extended information.

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8. Extended information

[( Definition format )]

Numeric value

0 to 0xFFFFFFFF

[( Definition range )]

[( Default value )]

Define the extended information of a task. This information is passed to the task as argument when it is restarted

by a queued startup request, for example.

[( Eventflag definition )]

This definition is necessary to use Eventflag function.

<< Format >>

// Eventflag Definition

flag[

name

wait_queue

]{

ID No.

;

Name

Selecting an event flag waiting queue

;

initial_pattern =

wait_multi

;

Initial value of the event flag

;

Multi-wait attribute

clear_attribute =

;

Clear attribute

};

The ID number must be in the range of 1 to 255. The ID number can be omitted.

If omitted, numbers are automatically assigned sequentially beginning with the smallest.

<< Content >>

Define the following for each eventflag ID number.

1. ID Name

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

Define the name with which an eventflag is specified in a program.

2. Selecting an event flag waiting queue

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

TA_TFIFO or TA_TPRI

TA_TFIFO

Select a method in which tasks wait for the event flag. If TA_TFIFO is selected, tasks are enqueued in order of

FIFO. If TA_TPRI is selected, tasks are enqueued in order of priority beginning with the one that has the highest

priority.

3. Initial value of the event flag

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

0 to 0xFFFFFFFF

Specify the initial bit pattern of the event flag.

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4. Multi-wait attribute

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

TA_WMUL or TA_WSGL

TA_WSGL

Specify whether multiple tasks can be enqueued in the eventflag waiting queue. If TA_WMUL is selected, the

TA_WMUL attribute is added, permitting multiple tasks to be enqueued. If TA_WSGL is selected, the

TA_WSGL attribute is added, prohibiting multiple tasks from being enqueued.

5. Clear attribute

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

YES or NO

Specify whether the TA_CLR attribute should be added as an eventflag attribute. If YES is selected, the

TA_CLR attribute is added. If NO is selected, the TA_CLR attribute is not added.

[( Semaphore definition )]

This definition is necessary to use Semaphore function.

<< Format >>

// Semaphore Definition

semaphore[

]{

ID No.

name

wait_queue

;

ID name

Selecting a semaphore waiting queue

;

initial_count =

;

Initial value of semaphore counter

Maximum value of the semaphore counter

max_count

;

};

The ID number must be in the range of 1 to 255. The ID number can be omitted.

If omitted, numbers are automatically assigned sequentially beginning with the smallest.

<< Content >>

Define the following for each semaphore ID number.

1. ID Name

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

Define the name with which a semaphore is specified in a program.

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2. Selecting a semaphore waiting queue

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

TA_TFIFO or TA_TPRI

TA_TFIFO

Select a method in which tasks wait for the semaphore. If TA_TFIFO is selected, tasks are enqueued in order of

FIFO. If TA_TPRI is selected, tasks are enqueued in order of priority beginning with the one that has the highest

priority.

3. Initial value of semaphore counter

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

0 to 65535

Define the initial value of the semaphore counter. This value must be less than the maximum value of the sema-

phore counter.

4. Maximum value of the semaphore counter

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 65535

Define the maximum value of the semaphore counter.

[(Data queue definition )]

This definition must always be set when the data queue function is to be used.

<< Format >>

// Dataqueue Definition

dataqueue[

]{

ID No.

name

buffer_size

wait_queue

;

ID name

Number of data queues

Select data queue waiting queue

;

};

The ID number must be in the range 1 to 255. The ID number can be omitted. If omitted, ID numbers are automatically

assigned in order of numbers beginning with the smallest.

<< Content >>

For each data queue ID number, define the items described below.

1. ID name

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

Define the name by which the data queue is specified in a program.

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2. Number of data

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric Value

0 to 0x1FFF

Specify the number of data that can be transmitted. What should be specified here is the number of data, and not

a data size.

3. Selecting a data queue waiting queue

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

TA_TFIFO or TA_TRPI

TA_TFIFO

Select a method in which tasks wait for data queue transmission. If TA_TFIFO is selected, tasks are enqueued in

order of FIFO. If TA_TPRI is selected, tasks are enqueued in order of priority beginning with the one that has the

highest priority.

[( Short data queue definition )]

This definition must always be set when the short data queue function is to be used.

<< Format >>

// Vdataqueue Definition

vdataqueue [

]{

ID No.

name

;

ID name

buffer_size

wait_queue

;

Number of data queues

Select data queue waiting queue

;

};

The ID number must be in the range 1 to 255. The ID number can be omitted. If omitted, ID numbers are automatically

assigned in order of numbers beginning with the smallest.

<< Content >>

For each short data queue ID number, define the items described below.

1. ID name

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

Define the name by which the short data queue is specified in a program.

2. Number of data

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric Value

0 to 0x3FFF

Specify the number of data that can be transmitted. What should be specified here is the number of data, and not

a data size.

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3. Selecting a data queue waiting queue

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

TA_TFIFO or TA_TRPI

TA_TFIFO

Select a method in which tasks wait for short data queue transmission. If TA_TFIFO is selected, tasks are en-

queued in order of FIFO. If TA_TPRI is selected, tasks are enqueued in order of priority beginning with the one

that has the highest priority.

[( Mailbox definition )]

This definition must always be set when the mailbox function is to be used.

<< Format >>

// Mailbox Definition

mailbox[

]{

ID No.

name

wait_queue

;

ID name

Select mailbox waiting queue

;

message_queue =

max_pri

;

Select message queue

Maximum message priority

;

};

The ID number must be in the range 1 to 255. The ID number can be omitted. If omitted, ID numbers are automatically

assigned in order of numbers beginning with the smallest.

<< Content >>

For each mailbox ID number, define the items described below.

1. ID name

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

Define the name by which the mailbox is specified in a program.

2. Select mailbox waiting queue

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

TA_TFIFO or TA_TPRI

TA_TFIFO

Select a method in which tasks wait for the mailbox. If TA_TFIFO is selected, tasks are enqueued in order of

FIFO. If TA_TPRI is selected, tasks are enqueued in order of priority beginning with the one that has the highest

priority.

3. Select message queue

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

TA_MFIFO or TA_MRPI

TA_MFIFO

Select a method by which a message queue of the mailbox is selected. If TA_MFIFO is selected, messages are

enqueued in order of FIFO. If TA_MPRI is selected, messages are enqueued in order of priority beginning with

the one that has the highest priority.

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4. Maximum message priority

[( Definition format )]

Numeric Value

[( Definition range )]

1 to "maximum value of message priority" that was specified

in "definition of maximum number of items"

[( Default value )]

Specify the maximum priority of message in the mailbox.

[( Fixed-size memory pool definition )]

This definition must always be set when the fixed-size memory pool function is to be used.

<< Format >>

// Fixed Memory pool Definition

memorypool[

]{

ID No.

name

;

ID name

Section Name

Number of blocks in memory pool

section

num_block

siz_block

wait_queue

};

;

Block size of Memory pool

Select memory pool waiting queue

;

The ID number must be in the range 1 to 255. The ID number can be omitted. If omitted, ID numbers are automatically

assigned in order of numbers beginning with the smallest.

<< Content >>

For each memory pool ID number, define the items described below.

1. ID name

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

Define the name by which the memory pool is specified in a program.

2. Section name

[( Definition format )]

Symbol

None

[( Definition range )]

[( Default value )]

MR_HEAP

Define the name of the section in which the memory pool is located. The section defined here must always have

an area allocated for it in the section file (asm_sec.inc or c_sec.inc).

If no section names are defined, the memory pool is located in the MR_HEAP section.

3. Number of block

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 65,535

Define the total number of blocks that comprise the memory pool.

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4. Size (in bytes)

[( Definition format )]

Numeric value

4 to 65,535

256

[( Definition range )]

[( Default value )]

Define the size of the memory pool per block. The RAM size to be used as a memory pool is determined by this

definition: (number of blocks) x (size) in bytes.

5. Selecting a memory pool waiting queue

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

TA_TFIFO or TA_TPRI

TA_TFIFO

Select a method in which tasks wait for acquisition of the fixed-size memory pool. If TA_TFIFO is selected,

tasks are enqueued in order of FIFO. If TA_TPRI is selected, tasks are enqueued in order of priority beginning

with the one that has the highest priority.

[( Variable-size memory pool definition )]

This definition is necessary to use Variable-size memory pool function.

<< Format >>

// Message buffer Definition

message_buffer[

]{

ID No.

name

;

ID Name

mbf_section

mbf_size

max_msgsz

wait_queue

};

;

Section name

Message buffer size

Maximum message size

Message buffer transmit wait queue selection

;

The ID number must be in the range from 1 to 255. The ID number can be omitted. If omitted, ID numbers are automati-

cally assigned in order of magnitude beginning with the smallest.

<< Content >>

6. ID name

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

Define the name by which the memory pool is specified in a program.

7. The maximum memory block size to be allocated

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 65520

None

Specify, within an application program, the maximum memory block size to be allocated.

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8. Section name

[( Definition format )]

Symbol

None

[( Definition range )]

[( Default value )]

MR_HEAP

Define the name of the section in which the memory pool is located. The section defined here must always have

an area allocated for it in the section file (asm_sec.inc or c_sec.inc).

If no section names are defined, the memory pool is located in the MR_HEAP section.

9. Memory pool size

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

16 to 0xFFFFFFFC

None

Specify a memory pool size.

Round off a block size you specify to the optimal block size among the four block sizes, and acquires memory

having the rounded-off size from the memory pool.

The following equations define the block sizes:

a = (((max_memsize+(X-1))/ (X × 8))+1) × 8

b = a × 2

c = a × 4

d = a × 8

max_memsize: the value specified in the configuration file

X: data size for block control (8 byte per a block control)

Variable-size memory pool function needs 8 byte RAM area per a block control. Memory pool size needs a size

more than a, b, c or d that can be stored max_memsize + 8.

10. Select block usage

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

ON,OFF

OFF

This is an option to increase memory efficiency for even small-sized memory pools by means of small blocks.

Memory is managed in 12 fixed-length memory pools ranging in size from 24 bytes to 65,528 bytes. When this

option is turned on, the value of max_memsize has no effect.

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[( Cyclic handler definition )]

This definition is necessary to use Cyclic handler function.

<< Format >>

// Cyclic Handlar Definition

cyclic_hand[

]{

ID No.

name

interval_counter

start

;

ID name

;

Activation cycle

TA_STA attribute

TA_PHS attribute

Activation phase

Start address

Extended information

;

phsatr

phs_counter

entry_address

exitf

;

};

The ID number must be in the range of 1 to 255. The ID number can be omitted.

If omitted, numbers are automatically assigned sequentially beginning with the smallest.

<< Content >>

Define the following for each cyclic handler ID number.

1. ID name

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

Define the name by which the memory pool is specified in a program.

2. Activation cycle

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

1 to 0x7FFFFFFF

None

Define the activation cycle at which time the cyclic handler is activated periodically. The activation cycle here

must be defined in the same unit of time as the system clock's unit time that is defined in system clock definition

item. If you want the cyclic handler to be activated at 1-second intervals, for example, the activation cycle here

must be set to 1000.

3. TA_STA attribute

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

ON or OFF

OFF

Specify the TA_STA attribute of the cyclic handler. If ON is selected, the TA_STA attribute is added; if OFF is

selected, the TA_STA attribute is not added.

4. TA_PHS attribute

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

ON or OFF

OFF

Specify the TA_PHS attribute of the cyclic handler. If ON is selected, the TA_PHS attribute is added; if OFF is

selected, the TA_PHS attribute is not added.

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5. Activation phase

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

0 to 0x7FFFFFFF

None

Define the activation phase of the cyclic handler. The time representing this startup phase must be defined in ms

units.

6. Start Address

[( Definition format )]

Symbol or Function Name

[( Definition range )]

[( Default value )]

None

Define the start address of the cyclic handler.

Note that the function name defined here will have the declaration statement shown below output to the ker-

nel_id.h file.

#pragma CYCHANDLER /V4 function name

7. Extended information

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

0 to 0xFFFFFFFF

Define the extended information of the cyclic handler. This information is passed as argument to the cyclic han-

dler when it starts.

[( Alarm handler definition )]

This definition is necessary to use Alarm handler function.

<< Format >>

// Alarm Handlar Definition

alarm_hand[

]{

ID No.

name

;

ID name

entry_address =

exitf

;

Start address

Extended information

;

};

The ID number must be in the range of 1 to 255. The ID number can be omitted.

If omitted, numbers are automatically assigned sequentially beginning with the smallest.

<< Content >>

Define the following for each alarm handler ID number.

1. ID name

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

None

Define the name by which the alarm handler is specified in a program.

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2. Start address

[( Definition format )]

[( Definition range )]

Symbol or Function Name

None

Define the start address of the alarm handler. The function name defined here causes the following declaration

statement to be output in the kernel_id.h file.

3. Extended information

[( Definition format )]

[( Definition range )]

[( Default value )]

Numeric value

0 to 0xFFFFFFFF

Define the extended information of the alarm handler. This information is passed as argument to the alarm han-

dler when it starts.

[( Interrupt vector definition )]

This definition is necessary to use Interrupt function.

<< Format >>

// Interrupt Vector Definition

interrupt_vector[

]{

Vector No.

os_int

;

Kernel-managed (OS dependent) interrupt handler

entry_address =

pragma_switch =

;

Start address

Switch passed to PRAGMA extended function

;

};

The vector number can be written in the range of 0 to 255. However, whether or not the defined vector number is valid de-

pends on the microcomputer used

Configurator can’t create an Initialize routine (interrupt control register, interrupt causes etc.) for this defined interrupt. You

need to create that.

<< Content >>

4. Kernel (OS dependent) interrupt handler

[( Definition format )]

[( Definition range )]

Symbol

YES or NO

Define whether the handler is a kernel(OS dependent) interrupt handler. If it is a kernel(OS dependent) interrupt

handler, specify YES; if it is a non-kernel(OS independent) interrupt handler, specify No.

If this item is defined as YES, the declaration statement shown below is output to the kernel_id.h file.

#pragma INTHANDLER /V4 function name

If this item is defined as NO, the declaration statement shown below is output to the kernel_id.h file.

#pragma INTERRUPT /V4 function name

5. Start address

[( Definition format )]

Symbol or function name

None

[( Definition range )]

[( Default value )]

__SYS_DMY_INH

Define the entry address of the interrupt handler. When written in the C language, add () at the end or at the be-

ginning of the function name you have defined.

246

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6. Switch passed to PRAGMA extended function

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

E, F, B or R

None

Specify the switch to be passed to #pragma INTHANDLER or #pragma INTERRUPT. If "E" is specified, a "/E"

switch is selected, in which case multiple interrupts are enabled. If "F" is specified, a "/F" switch is selected, in

which case a "FREIT" instruction is output at return from the interrupt handler. If "B" is specified, a "/B" switch

is selected, in which case register bank 1 is selected. If "R" is specified, a "/R" switch is selected, in which case

no codes are output that change the floating-number rounding mode of the FLG register to the "nearest value."

Multiple switches can be specified at the same time. However, if a kernel managed interrupt handler is con-

cerned, only the "E" or "R" switch can be specified. For non-kernel managed interrupt handlers, the "E", "F" and

"B" switches can be specified, providing that "E" and "B" are not specified at the same time.

[( Fixed interrupt vector definition )]

This definition needs to be set when interrupt handlers based on fixed vector table are used.

<< Format >>

// Fixed Interrupt Vector Definition

interrupt_fvector[

]{

Vector No.

Start address

Switch passed to PRAGMA extended function

entry_address =

pragma_switch =

;

};

The interrupt vector number can be set in the range from 0 to 11. The relationship between the vector numbers and the in-

terrupts and vector addresses is shown below. All these interrupts are handled as non-kernel managed interrupt handlers.

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Table 8.3 List of vector number and vector address

Vector number

Vector address

FFFFFFD0H

FFFFFFD4H

FFFFFFD8H

FFFFFFDCH

FFFFFFE0H

FFFFFFE4H

FFFFFFE8H

FFFFFFECH

FFFFFFF0H

FFFFFFF4H

FFFFFFF8H

FFFFFFFCH

Interrupt

Kernel reserved area

Undefined instruction

Overflow

BRK instruction

Reserved area

Watchdog timer, voltage down detection, oscillation stop detection

Reserved area

NMI

Reset

<< Content >>

1. Start address

[( Definition format )]

Symbol or function name

[( Definition range )]

[( Default value )]

None

__SYS_DMY_INH

Define the entry address to the interrupt handler. When written in C language, add () at the end of the function

name or __ at the beginning of it.

2. Switch passed to PRAGMA extended function

[( Definition format )]

[( Definition range )]

[( Default value )]

Symbol

B or R

None

Specify the switch to be passed to #pragma INTERRUPT. If "B" is specified, a "/B" switch is selected, in which

case register bank 1 is selected. If "R" is specified, a "/R" switch is selected, in which case no codes are output

that change the floating-number rounding mode of the FLG register to the "nearest value."

Both switches can be specified at the same time.

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[Precautions]

1. Regarding the method for specifying a register bank

No kernel interrupt handlers that use the registers in register bank 1 can be written in C language. These handlers can only

be written in assembly language. When writing in assembly language, write the entry and exit to and from the interrupt

handler as shown below.

(Always be sure to clear the B flag before issuing ret_int service call.)

Example: interrupt;

fset

fclr

ret_int

Internally in the MR100 kernel, register banks are not switched over.

2. Regarding the method for specifying a high-speed interrupt

To ensure the effective use of a high-speed interrupt, be sure that the registers in register bank 1 are used in the high-speed

interrupt. Also be aware that the high-speed interrupts used cannot be a kernel interrupt handler..

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8.1.3

Configuration File Example

The following is the configuration file example.

1 ////////////////////////////////////////////////////////////////////////////////

2 //

3 //

4 //

5 //

6 //

kernel.cfg : building file for MR100 Ver.1.00

Generated by M3T-MR100 GUI Configurator at 2007/02/28 19:01:20

7 ////////////////////////////////////////////////////////////////////////////////

9 // system definition

10 system{

stack_size

= 256;

= 4;

sys m_IPL

ﾃ

message_pri

timeout = NO;

task_pause

tick_nume

= 64;

= NO;

= 10;

= 1;

tick_deno

18 };

20 // max definition

21 maxdefine{

max_task

max_flag

= 3;

= 4;

max_sem = 3;

max_dtq = 3;

max_mbx = 4;

max_mpf = 3;

max_mpl = 3;

max_cyh = 4;

max_alh = 2;

31 };

33 // system clock definition

34 clock{

timer_clock

timer = A0;

= 20.000000MHz;

IPL

= 3;

38 };

40 task[]{

entry_address = task1();

name = ID_task1;

stack_size

priority

= 256;

= 1;

initial_start = OFF;

exinf = 0x0;

47 };

48 task[]{

entry_address = task2();

name = ID_task2;

stack_size

priority

= 256;

= 5;

initial_start = ON;

exinf = 0xFFFF;

55 };

56 task[3]{

entry_address = task3();

name = ID_task3;

stack_size

priority

= 256;

= 7;

initial_start = OFF;

exinf = 0x0;

63 };

65 flag[]{

name

= ID_flg1;

initial_pattern = 0x00000000;

wait_queue

clear_attribute = NO;

wait_multi = TA_WSGL;

= TA_TFIFO;

71 };

72 flag[1]{

name

= ID_flg2;

initial_pattern = 0x00000001;

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wait_queue

clear_attribute = NO;

wait_multi = TA_WMUL;

= TA_TFIFO;

78 };

79 flag[2]{

name

initial_pattern = 0x0000ffff;

wait_queue = TA_TPRI;

clear_attribute = YES;

wait_multi = TA_WMUL;

= ID_flg3;

85 };

86 flag[]{

name

= ID_flg4;

initial_pattern = 0x00000008;

wait_queue

clear_attribute = YES;

wait_multi = TA_WSGL;

= TA_TPRI;

92 };

94 semaphore[]{

name

wait_queue

initial_count = 0;

max_count = 10;

= ID_sem1;

= TA_TFIFO;

99 };

100 semaphore[2]{

101

102

name

wait_queue

= ID_sem2;

= TA_TFIFO;

103

104

initial_count = 5;

max_count = 10;

105 };

106 semaphore[]{

107

name

= ID_sem3;

108

109

110

wait_queue

initial_count = 255;

max_count = 255;

= TA_TPRI;

111 };

112

113 dataqueue[]{

114

name

= ID_dtq1;

115

116

wait_queue

buffer_size

= TA_TFIFO;

= 10;

117 };

118 dataqueue[2]{

119

120

121

name

wait_queue

buffer_size

= ID_dtq2;

= TA_TPRI;

= 5;

122 };

123 dataqueue[3]{

124

125

126

name

wait_queue

buffer_size

= ID_dtq3;

= TA_TFIFO;

= 256;

127 };

128

129 mailbox[]{

130

name

= ID_mbx1;

131

132

133

wait_queue

message_queue = TA_MFIFO;

max_pri = 4;

= TA_TFIFO;

134 };

135 mailbox[]{

136

name

wait_queue

= ID_mbx2;

= TA_TPRI;

137

138

139

message_queue = TA_MPRI;

max_pri = 64;

140 };

141 mailbox[]{

142

name

wait_queue

= ID_mbx3;

= TA_TFIFO;

143

144

145

message_queue = TA_MPRI;

max_pri = 5;

146 };

147 mailbox[4]{

148

name

wait_queue

= ID_mbx4;

= TA_TPRI;

149

150

151

message_queue = TA_MFIFO;

max_pri = 6;

152 };

153

154 memorypool[]{

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155

156

157

name

wait_queue

section = MR_RAM;

= ID_mpf1;

= TA_TFIFO;

158

159

siz_block

num_block

= 16;

= 5;

160 };

161 memorypool[2]{

162

163

name

wait_queue

= ID_mpf2;

= TA_TPRI;

164

165

166

section = MR_RAM;

siz_block

num_block

= 32;

= 4;

167 };

168 memorypool[3]{

169

170

171

172

name

= ID_mpf3;

wait_queue

section = MPF3;

siz_block

num_block

= TA_TFIFO;

= 64;

= 256;

173

174 };

175

176 variable_memorypool[]{

177

178

179

name

max_memsize

heap_size

= ID_mpl1;

= 8;

= 16;

180 };

181 variable_memorypool[]{

182

183

184

name

max_memsize

heap_size

= ID_mpl2;

= 64;

= 256;

185 };

186 variable_memorypool[3]{

187

188

189

name

max_memsize

heap_size

= ID_mpl3;

= 256;

= 1024;

190 };

191

192 cyclic_hand[]{

193

194

entry_address = cyh1();

name = ID_cyh1;

195

196

197

198

exinf = 0x0;

start = ON;

phsatr = OFF;

interval_counter

phs_counter

= 0x1;

199

= 0x0;

200 };

201 cyclic_hand[]{

202

203

entry_address = cyh2();

name = ID_cyh2;

204

205

206

exinf = 0x1234;

start = OFF;

phsatr = ON;

207

208

interval_counter

= 0x20;

= 0x100;

phs_counter

= 0x10;

209 };

210 cyclic_hand[]{

211

212

213

214

215

216

entry_address = cyh3;

name = ID_cyh3;

exinf = 0xFFFF;

start = ON;

phsatr = OFF;

interval_counter

217

218 };

219 cyclic_hand[4]{

phs_counter

= 0x0;

220

221

222

223

224

225

226

227 };

228

entry_address = cyh4();

name = ID_cyh4;

exinf = 0x0;

start = ON;

phsatr = ON;

interval_counter

phs_counter

= 0x80;

229 alarm_hand[]{

230

231

232

entry_address = alm1();

name = ID_alm1;

exinf = 0xFFFF;

233 };

234 alarm_hand[2]{

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235

236

237

entry_address = alm2;

name = ID_alm2;

exinf = 0x12345678;

238 };

239

240

241 //

242 // End of Configuration

243 //

253

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8.2 Configurator Execution Procedures

8.2.1

Configurator Overview

The configurator is a tool that converts the contents defined in the configuration file into the assembly language include file,

etc.Figure 8.1 outlines the operation of the configurator.

When used on HEW, the configurator is automatically started, and an application program is built.

Executing the configurator requires the following input files:

•

Configuration file (XXXX.cfg)

This file contains description of the system's initial setup items. It is created in the current directory.

Default configuration file (default.cfg)

This file contains default values that are referenced when settings in the configuration file are omitted. This file

is placed in the directory indicated by environment variable "LIB30" or the current directory. If this file exists in

both directories, the file in the current directory is prioritized over the other.

• include template file(mr100.inc, sys_ram.inc)

This file serves as the template file of include file "mr100.inc" and “sys_ram.inc”. It resides in the directory in-

dicated by environment variable "LIB100."

• MR100 version file (version)

This file contains description of MR100's version. It resides in the directory indicated by environment variable

"LIB100." The configurator reads in this file and outputs MR100's version information to the startup message.

• Service call definition file(kernel_sysint.h)

This file contains description of MR100 service call definition. It resides in the directory indicated by environ-

ment variable "LIB100." The configurator reads in this file and outputs to thecurrent directory.

When the configurator is executed, the files listed below are output.

Do not define user data in the files output by the configurator. Starting up the configurator after entering data definitions

may result in the user defined data being lost.

• System data definition file (sys_rom.inc, sys_ram.inc)

This file contains definition of system settings.

• Include file (mr100.inc)

This is an include file for the assembly language.

• Service call definition file(kernel_sysint.h)

This file contains description of MR100 service call definition

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Configuration File

xxx.cfg

System Data Difinition File

sys_ram.inc, sys_rom.inc

Default

Configuration File

Include File

mr100.inc

cfg100

default.cfg

Template File

ID Number Definition File

kernel_id.h

sys_ram.inc, mr100.inc

MR100 Version File

version

Service call Definition File

kernel_sysint.h

Service call Definition File

kernel_sysint.h

Figure 8.1 The operation of the Configurator

8.2.2

Setting Configurator Environment

Before executing the configurator, check to see if the environment variable "LIB100" is set correctly.

The configurator cannot be executed normally unless the following files are present in the directory indicated by the envi-

ronment variable "LIB100":

• Default configuration file (default.cfg)

This file can be copied to the current directory for use. In this case, the file in the current directory is given priority.

• System RAM area definition database file (sys_ram.inc)

• mr100.inc template file (mr100.inc)

• Section definition file(c_sec.inc or asm_sec.inc)

• Startup file(crt0mr.a30 or start.a30)

• MR100 version file(version)

• Service call definition file(kernel_sysint.h)

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8.2.3

Configurator Start Procedure

Start the configurator as indicated below.

C:\> cfg100 [-vV] [-Eipl] [-Wipl] Configuration file name

Normally, use the extension .cfg for the configuration file name. The file name can includes space character with “”.

Command Options

-v Option

Displays the command option descriptions and detailed information on the version.

-V Option

Displays the information on the files generated by the command.

-Eipl Option

Enable the check function of an IPL value. When System_IPL! = 7 in the con-figuration file, the error message "

system_IPL should be 7" is displayed and the execution of cfg100 is stpped.

-Wipl Option

Enable the check function of a IPL value. When System_IPL! = 7 in the con-figuration file, the error message "

system_IPL should be 7" is displayed..

8.2.4

Precautions on Executing Configurator

The following lists the precautions to be observed when executing the configurator:

• Do not modify the startup program name and the section definition file name. Otherwise, an error may

be encountered when executing the configurator.

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8.2.5

Configurator Error Indications and Remedies

If any of the following messages is displayed, the configurator is not normally functioning. Therefore, correct the configu-

ration file as appropriate and the execute the configurator again.

Error messages

cfg100 Error : Syntax error near line xxx (xxxx.cfg)

There is an syntax error in the configuration file.

cfg100 Error : Not enough memory

Memory is insufficient.

cfg100 Error : Illegal option --> <x>

The configurator's command option is erroneous.

cfg100 Error : Illegal argument --> <xx>

The configurator's startup format is erroneous.

cfg100 Error : Can't write open <XXXX>

The XXXX file cannot be created. Check the directory attribute and the remaining disk capacity available.

cfg100 Error : Can't open <XXXX>

The XXXX file cannot be accessed. Check the attributes of the XXXX file and whether it actually exists.

cfg100 Error : Can't open version file

The MR100 version file "version" cannot be found in the directory indicated by the environment variable

"LIB30".

cfg100 Error : Can't open default configuration file

The default configuration file cannot be accessed. "default.cfg" is needed in the current directory or directory

"LIB100" specifying.

cfg100 Error : Can't open configuration file <xxxx.cfg>

The configuration file cannot be accessed. Check that the file name has been properly designated.

cfg100 Error : illegal XXXX --> <xx> near line xxx (xxxx.cfg)

The value or ID number in definition item XXXX is incorrect. Check the valid range of definition.

cfg100 Error : Unknown XXXX --> <xx> near line xx (xxxx.cfg)

The symbol definition in definition item XXXX is incorrect. Check the valid range of definition.

cfg100 Error : XXXX's ID number is too large.--> <xxx> (xxxx.cfg)

A value is set to the ID number in XXXX definition that exceeds the total number of objects defined.The ID

number must be smaller than the total number of objects.

cfg100 Error : Task[x]'s priority is too large.--> <xxx> near line xxx (xxxx.cfg)

The initial priority in task definition of ID number x exceeds the priority in system definition.

cfg100 Error : clock.IPL is too large.--> <xxx> near line xxx (xxxx.cfg)

The system clock interrupt priority level for system clock definition item exceeds the value of IPL within service

call of system definition item.

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cfg100 Error : System timer's vector <x>conflict near line xxx

A different vector is defined for the system clock timer interrupt vector. Confirm the vector No.x for interrupt

vector definition.

cfg100 Error : XXXX is not defined (xxxx.cfg)

"XXXX" item must be set in your configuration file.

cfg100 Error : System's default is not defined

These items must be set int the default configuration file.

cfg100 Error : <XXXX> is already defined near line xxx (xxxx.cfg)

XXXX is already defined. Check and delete the extra definition.

cfg100 Error : XXXX[x] is already defined near line xxx (default.cfg)

cfg100 Error : XXXX[x] is already defined near line xxx (xxxx.cfg)

The ID number in item XXXX is already registered. Modify the ID number or delete the extra definition.

cfg100 Error : XXXX must be defined near line xxx (xxxx.cfg)

XXXX cannot be omitted.

cfg100 Error : SYMBOL must be defined near line xxx (xxxxcfg)

This symbol cannot be omitted.

cfg100 Error : Zero divide error near line xxx (xxxx.cfg)

A zero divide operation occurred in some arithmetic expression.

cfg100 Error : task[X].stack_size must set XX or more near line xxx (xxxx.cfg)

You must set more than XX bytes.in task[x].stack_size.

cfg100 Error : "R2R0" must be contained in task[x].context near line xxxx (xxxx.cfg)

You must select R2R0 register in task[x].context.

cfg100 Error : Can't specify B or F switch when os_int=YES. (xxxx.cfg)

"/B" and "/F" switch cannot be specified to a kernel interrupt handler.

cfg100 Error : Can't specify B and E switch at a time when os_int=NO. (xxxx.cfg)

"/B" and "/E" switch cannot be specified to the non-kernel interrupt handler at a time.

cfg100 Error : interrupt_vector[%ld].os_int must be YES. (xxxx.cfg)

When a kernel interrupt mask level is 7, an interrupt handler must be kernel interrupt handler..

cfg100 Error : system_IPL should be 7. (xxxx.cfg)

When "-Eipl" is specified as the command option of configurator, the value of sysrem_IPL of a system definition

must be 7.

cfg100 Error : Timer counter value is overflow. (xxxx.cfg)

Overflow occurred in the operation of a timer count. A timer cannot be initialized with the time tick cycle and

peripheral clock which were specified. Please initialize the timer and sets clock.timer to “OTHER”.

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Warning messages

The following message are a warning. A warning can be ignored providing that its content is understood.

cfg100 Warning : system is not defined (xxxx.cfg)

cfg100 Warning : system.XXXX is not defined (xxxx.cfg)

System definition or system definition item XXXX is omitted in the configuration file.

cfg100 Warning : task[x].XXXX is not defined near line xxx (xxxx.cfg)

The task definition item XXXX in ID number is omitted.

cfg100 Warning : Already definition XXXX near line xxx (xxxx.cfg)

XXXX has already been defined.The defined content is ignored, check to delete the extra definition.

cfg100 Warning : interrupt_vector[x]'s default is not defined (default.cfg)

The interrupt vector definition of vector number x in the default configuration file is missing.

cfg100 Warning : interrupt_vector[x]'s default is not defined near line xxx (xxxx.cfg)

The interrupt vector of vector number x in the configuration file is not defined in the default configuration file.

cfg100 Warning : Initial start task is not defined

The task of task ID number 1 was defined as the initial startup task because no initial startup task is defined in

the configuration file.

cfg100 Warning : system.stack_size is an uneven number near line xxx

cfg100 Warning : task[x].stack_size is an uneven number near line xxx

Please set even size in system.stack_size or task[x].stack_size.

cfg100 Warning : system_IPL should be 7

When "-Wipl" is specified as the command option of KONFIGYURETA, you should make the value of sys-

rem_IPL of a system definition 7.

cfg100 Warning : Timer counter value is less than your settimg time

The error occurred in the operation of a timer count. Please check whether an error is permitted.

cfg100 Warning : XXXX is specified as YYYY.

XXXX is specified as YYYY.

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9. Sample Program Description

9.1 Overview of Sample Program

As an example application of MR100, the following shows a program that outputs a string to the standard output device

from one task and another alternately.

Table 9.1 Functions in the Sample Program

Function

Name

Type

ID No.

Priority Description

main()

Task

Starts task1 and task2.

Outputs "task1 running."

Outputs "task2 running."

Wakes up task1().

task1()

task2()

cyh1()

Task

Handler

The content of processing is described below.

•

The main task starts task1, task2, and cyh1, and then terminates itself.

task1 operates in order of the following.

1. Gets a semaphore.

2. Goes to a wakeup wait state.

3. Outputs "task1 running."

4. Frees the semaphore.

•

task2 operates in order of the following.

1. Gets a semaphore.

2. Outputs "task2 running."

3. Frees the semaphore.

cyh1 starts every 100 ms to wake up task1.

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9.2 Program Source Listing

1 /*************************************************************************

2 *

3 *

MR100 smaple program

6 *

7 *

8 *

9 *************************************************************************/

$Id: demo.c,v 1.2 2005/06/15 05:29:02 inui Exp $

11 #include <itron.h>

12 #include <kernel.h>

13 #include "kernel_id.h"

14 #include <stdio.h>

17 void main( VP_INT stacd )

18 {

sta_tsk(ID_task1,0);

sta_tsk(ID_task2,0);

sta_cyc(ID_cyh1);

22 }

23 void task1( VP_INT stacd )

24 {

while(1){

wai_sem(ID_sem1);

slp_tsk();

printf("task1 running\n");

sig_sem(ID_sem1);

}

31 }

33 void task2( VP_INT stacd )

34 {

while(1){

wai_sem(ID_sem1);

printf("task2 running\n");

sig_sem(ID_sem1);

}

40 }

42 void cyh1( VP_INT exinf )

43 {

iwup_tsk(ID_task1);

45 }

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9.3 Configuration File

1 //*************************************************************************

2 //

5 //

6 //

7 //

8 //

MR100 System Configuration File.

"$Id: smp.cfg,v 1.5 2005/06/15 05:41:54 inui Exp $"

9 //*************************************************************************

11 // System Definition

12 system{

stack_size

priority

system_IPL

tic_nume

= 1024;

= 10;

= 4;

= 1;

tic_deno

message_pri

= 1;

= 255;

19 };

20 //System Clock Definition

21 clock{

mpu_clock

timer

= 20MHz;

= A0;

IPL

= 4;

25 };

26 //Task Definition

27 //

28 task[]{

entry_address = main();

name = ID_main;

stack_size = 100;

priority = 1;

initial_start = ON;

34 };

35 task[]{

entry_address = task1();

name

stack_size

priority

= ID_task1;

= 500;

= 2;

40 };

41 task[]{

entry_address = task2();

name

stack_size

priority

= ID_task2;

= 500;

= 3;

46 };

48 semaphore[]{

name

max_count

= ID_sem1;

= 1;

initial_count = 1;

wait_queue = TA_TPRI;

53 };

57 cyclic_hand [1] {

name

= ID_cyh1;

= 100;

= OFF;

= 0;

= cyh1();

= 1;

interval_counter

start

phsatr

phs_counter

entry_address

exinf

65 };

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10. Stack Size Calculation Method

10.1Stack Size Calculation Method

The MR100 provides two kinds of stacks: the system stack and the user stack. The stack size calculation method differ be-

tween the stacks.

zUser stack

This stack is provided for each task. Therefore, writing an application by using the MR100 requires to allocate

the stack area for each stack.

zSystem stack

This stack is used inside the MR100 or during the execution of the handler.

When a task issues a service call, the MR100 switches the user stack to the system stack. (See Figure

10.1:System Stack and User Stack)

The system stack uses interrupt stack(ISP).

MR100 Service Call Processing Position

Task

User Stack

Stack switching

Service call

rocessing

System Stack

(interruput stack)

XXX_XXX()

Task Selection

Stack switching

User Stack

Figure 10.1:System Stack and User Stack

The sections of the system stack and user stack each are located in the manner shown below. However, the diagram shown

below applies to the case where the stack areas for all tasks are located in the stack section during configuration.

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SFR

System Stack

User satck of

TaskID No.1

User satck of

TaskID No.2

Stack Section

User satck of

TaskID No.n

Figure 10.2: Layout of Stacks

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10.1.1 User Stack Calculation Method

User stacks must be calculated for each task. The following shows an example for calculating user stacks in cases when an

application is written in the C language and when an application is written in the assembly language.

z When an application is written in the C language

Using the stack size calculation utility of NC100, calculate the stack size of each task. The necessary stack size

of a task is the sum of the stack size output by the stack size calculation utility plus a context storage area of 48

bytes⁵⁴

zWhen an application is written in the assembly language

♦

Sections used in user program

The necessary stack size of a task is the sum of the stack size used by the task in subroutine call plus the size

used to save registers to a stack in that task.

♦

Sections used in MR100

The sections used in MR100 refer to a stack size that is used for the service calls issued.

MR100 requires that if you issue only the service calls that can be issued from tasks, 8bytes of area be allocated

for storing the PC and FLG registers. Also, if you issue the service calls that can be issued from both tasks and

handlers, see the stack sizes listed in Table 10.2 Stack Sizes Used by Service Calls Issued from Handlers (in

bytes) to ensure that the necessary stack area is allocated.

Furthermore, when issuing multiple service calls, include the maximum value of the stack sizes used by those

service calls as the sections used by MR100 as you calculate the necessary stack size.

Therefore,

User stack size =

Sections used in user program + registers used + Sections used in MR100

(registers used is total size of used registers.)

Figure 2.3:Example of Use Stack Size Calculation shows an example for calculating a user stack. In the example below, the

registers used by the task are R2R0, R3R1, and A0.

If written in the C language, this size is fixed.

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Stack growing direction

When use register R2R0,R3R1,A0(12bytes)

4bytes

24bytes(PC+FLG+size of re gisters used

stack size used by sta_tsk)

jsr sub1

sta_tsk

36bytes(PC+FLG+size of registe rs used

stack size used by prcv_mbx)

prcv_mbx

40bytes

Figure 2.3:Example of Use Stack Size Calculation

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10.1.2 System Stack Calculation Method

The system stack is most often consumed when an interrupt occurs during service call processing followed by the occur-

rence of multiple interrupts.⁵⁵The necessary size (the maximum size) of the system stack can be obtained from the fol-

lowing relation:

^{Necessary size of the system stack = α}Σ βi(  γ)

zα

The maximum system stack size among the service calls to be used.⁵⁶.

When sta_tsk, ext_tsk, and dly_tsk are used for example, according to the Table 10.1 Stack Sizes Used by Ser-

vice Calls Issued from Tasks (in bytes),each of system stack size is the following.

Service Call name

sta_tsk

System Stack Size

4 bytes

ext_tsk

4 bytes

slp_tsk

4 bytes

dly_tsk

8 bytes

Therefore,the maximum system stack size among the service calls to be used is the 8 bytes of dly_tsk.

The stack size to be used by the interrupt handler.⁵⁷The details will be described later.

Stack size used by the system clock interrupt handler. This is detailed later.

zβi

zγ

After switchover from user stack to system stack

Refer from Table 10.1 Stack Sizes Used by Service Calls Issued from Tasks (in bytes) to Table 10.3 Stack Sizes Used by Service Calls

Issued from Tasks and Handlers (in bytes) for the system stack size used for each individual service call.

Kernel interrupt handler (not including the system clock interrupt handler here) and non-kernel interrupt handler.

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α:The maximum system stack size among the service calls to be used.

βι:The system stack size to be used by the interrupt handler.

β1

β2

Interrupt

βn

The necessary system stack

Figure 10.4: System Stack Calculation Method

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[( Stack size βi used by interrupt handlers )]

The stack size used by an interrupt handler that is invoked during a service call can be calculated by the equation below.

The stack size βi used by an interrupt handler is shown below.

C language

Using the stack size calculation utility of NC100, calculate the stack size of each interrupt handler.

Refer to the manual of for the stack size calculation utility detailed use of it.

Assembly language

The stack size to be used by kernel interrupt handler

= register to be used + user size + stack size to be used by service call

The stack size to be used by non-kernel interrupt handler

= register to be used + user size

User size is the stack size of the area written by user.

Context(48bytes)

Interrupt

4bytes

jsr func

32bytes

iset_flg

ret_int

84bytes

Figure 10.5: Stack size to be used by Kernel Interrupt Handler(Written in C language)

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[( System stack size γ used by system clock interrupt handler )]

When you do not use a system timer, there is no need to add a system stack used by the system clock interrupt handler.

The system stack size γ used by the system clock interrupt handler is whichever larger of the two cases below:

48 + maximum size used by cyclic handler

48 + maximum size used by alarm handler

72 bytes

C language

Using the stack size calculation utility of NC100, calculate the stack size of each Alarm or Cyclic handler.

Refer to the manual of the stack size calculation utilityr for detailed use of it.

Assembly language

The stack size to be used by Alarm or Cyclic handler

= register to be used + user size + stack size to be used by service call

If neither cyclic handler nor alarm handler is used, then

γ = 72 bytes

When using the interrupt handler and system clock interrupt handler in combination, add the stack sizes used by both.

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10.2Necessary Stack Size

Table 10.1 Stack Sizes Used by Service Calls Issued from Tasks (in bytes) lists the stack sizes (system stack) used by

service calls that can be issued from tasks.

Table 10.1 Stack Sizes Used by Service Calls Issued from Tasks (in bytes)

Service call

Stack size

Service call

Stack size

User stack

System

User stack

System

stack

act_tsk

can_act

sta_tsk

ext_tsk

ter_tsk

0(4)

0(12)

0(4)

rcv_mbx

prcv_mbx

trcv_mbx

ref_mbx

get_mpf

pget_mpf

tget_mpf

rel_mpf

ref_mpf

pget_mpl

rel_mpl

ref_mpl

set_tim

get_tim

sta_cyc

stp_cyc

ref_cyc

sta_alm

stp_alm

ref_alm

rot_rdq

0(16)

0(4)

0(8)

0(20)

0(4)

0(8)

0(4)

0(20)

0(8)

0(12)

0(8)

0(16)

0(12)

0(16)

0(4)

0(8)

0(4)

0(12)

0(4)

0(12)

0(32)

0(12)

0(4)

0(12)

0(4)

0(8)

0(4)

0(12)

0(4)

0(8)

chg_pri

get_pri

ref_tsk

ref_tst

slp_tsk

tslp_tsk

wup_tsk

can_wup

rel_wai

sus_tsk

rsm_tsk

frsm_tsk

dly_tsk

sig_sem

wai_sem

pol_sem

twai_sem

ref_sem

set_flg

get_tid

loc_cpu

unl_cpu

ref_ver

clr_flg

wai_flg

pol_flg

twai_flg

ref_flg

vsnd_dtq

vpsnd_dtq

vtsnd_dtq

vfsnd_dtq

vrcv_dtq

vprcv_dtq

vtrcv_dtq

vref_dtq

vrst_dtq

vrst_vdtq

vrst_mbx

vrst_mpf

vrst_mpl

ena_dsp

28(68)

0(8)

0(4)

0(8)

0(4)

snd_dtq

psnd_dtq

tsnd_dtq

fsnd_dtq

rcv_dtq

prcv_dtq

trcv_dtq

ref_dtq

snd_mbx

dis_dsp

0(8)

0(4)

0(8)

0(4)

(): Stack sizes used by service call in Assembly programs.

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Tabl e 1 0.2 S tac k S ize s U se d b y S ervic e C all s I ssue d f ro m H andler s (i n b ytes )lists the stack sizes (system

stack) used by service calls that can be issued from handlers.

Table 10.2 Stack Sizes Used by Service Calls Issued from Handlers (in bytes)

Service call

iact_tsk

ican_act

ista_tsk

ichg_pri

iget_pri

iref_tsk

Stack size

12(40)

12(24)

12(40)

24(52)

16(24)

12(44)

12(24)

24(56)

12(24)

24(56)

12(32)

12(40)

28(60)

12(20)

32(68)

12(20)

16(24)

12(20)

28(60)

40(64)

12(20)

Service call

iprcv_mbx

Stack size

16(28)

12(20)

28(32)

32(64)

12(20)

12(24)

12(20)

12(28)

12(24)

12(28)

12(24)

16(20)

iref_mbx

ipget_mpf

irel_mpf

iref_mpf

iset_tim

iget_tim

ista_cyc

istp_cyc

iref_cyc

ista_alm

istp_alm

iref_alm

irot_rdq

iget_tid

iref_tst

iwup_tsk

ican_wup

irel_wai

isus_tsk

irsm_tsk

ifrsm_tsk

isig_sem

ipol_sem

iref_sem

iset_flg

iclr_flg

ipol_flg

iref_flg

ipsnd_dtq

ifsnd_dtq

iprcv_dtq

iref_dtq

iref_mpl

iloc_cpu

iunl_cpu

ret_int

12(20)

iref_ver

12(24)

32(64)

36(64)

12(20)

24(52)

vipsnd_dtq

vifsnd_dtq

viprcv_dtq

viref_dtq

isnd_mbx

(): Stack sizes used by service call in Assembly programs.

T a ble 10.3 Stack Sizes Used by Service Calls Issued from Tasks and Handlers (in bytes )lists the stack

sizes (system stack) used by service calls that can be issued from both tasks and handlers. If the service call

issued from task, system uses user stack. If the service call issued from handler, system uses system stack.

Table 10.3 Stack Sizes Used by Service Calls Issued from Tasks and Handlers (in bytes)

Service call

sns_ctx

sns_dsp

Stack size

12(20)

Service call

sns_loc

sns_dpn

Stack size

12(20)

(): Stack sizes used by service call in Assembly programs.

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11. Note

11.1The Use of INT Instruction

MR100 has INT instruction interrupt numbers reserved for issuing service calls as listed in Table 11.1 Interrupt Number

Assignment. For this reason, when using software interrupts in a user application, do not use interrupt numbers 63 through

48 and be sure to use some other numbers.

Table 11.1 Interrupt Number Assignment

Interrupt No.

249

Service calls Used

Service calls that can be issued from only task context

Service calls that can be issued from only non-task context.

Service calls that can be issued from both task context and non-task context.

ret_int service call

dis_dsp service call

loc_cpu, iloc_cpu service call

ext_tsk service call

Reserved for future extension

250

251

252

253

254

255

11.2The Use of registers of bank

The registers of bank is 0, when a task starts on MR100.

MR100 does not change the registers of bank in processing kernel.

You must pay attention to the followings.

• Don’t change the regisers of bank in processing a task.

• If an interrupt handler with regisers of bank 1 have multiple interrupts of an interrupt handler with regis-

ers of bank 1 , the program can not execute normally.

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11.3Regarding Delay Dispatching

MR100 has four service calls related to delay dispatching.

• dis_dsp

• ena_dsp

• loc_cpu

• unl_cpu

The following describes task handling when dispatch is temporarily delayed by using these service calls.

14. When the execution task in delay dispatching should be preempted

While dispatch is disabled, even under conditions where the task under execution should be preempted, no time

is dispatched to new tasks that are in an executable state. Dispatching to the tasks to be executed is delayed until

the dispatch disabled state is cleared. When dispatch is being delayed.

• Task under execution is in a RUN state and is linked to the ready queue

• Task to be executed after the dispatch disabled state is cleared is in a READY state and is linked to the

highest priority ready queue (among the queued tasks).

15. isus_tsk,irsm_tsk during dispatch delay

In cases when isus_tsk is issued from an interrupt handler that has been invoked in a dispatch disabled state to

the task under execution (a task to which dis_dsp was issued) to place it in a SUSPEND state. During delay dis-

patching.

• The task under execution is handled inside the OS as having had its delay dispatching cleared. For this

reason, in isus_tsk that has been issued to the task under execution, the task is removed from the

ready queue and placed in a SUSPEND state. Error code E_OK is returned. Then, when irsm_tsk is

issued to the task under execution, the task is linked to the ready queue and error code E_OK is re-

turned. However, tasks are not switched over until delay dispatching is cleared.

• The task to be executed after disabled dispatching is re-enabled is linked to the ready queue.

16. rot_rdq, irot_rdq during dispatch delay

When rot_rdq (TPRI_RUN = 0) is issued during dispatch delay, the ready queue of the own task's priority is ro-

tated. Also, when irot_rdq (TPRI_RUN = 0) is issued, the ready queue of the executed task's priority is rotated.

In this case, the task under execution may not always be linked to the ready queue. (Such as when isus_tsk is is-

sued to the executed task during dispatch delay.)

17. Precautions

• No service call (e.g., slp_tsk, wai_sem) can be issued that may place the own task in a wait state while

in a state where dispatch is disabled by dis_dsp or loc_cpu.

• ena_dsp and dis_dsp cannot be issued while in a state where interrupts and dispatch are disabled by

loc_cpu.

• Disabled dispatch is re-enabled by issuing ena_dsp once after issuing dis_dsp several times.

The above status transition can be summarized in Table 3.3.

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11.4Regarding Initially Activated Task

MR100 allows you to specify a task that starts from a READY state at system startup. This specification is made by setting

the configuration file.

Refer to 8.1.2 for details on how to set.

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12. Appendix

12.1Data Type

typedef

signed char

signed short

signed long

unsigned char

unsigned short

unsigned long

char

short

long

void

UB;

UH;

UW;

VH;

/* Signed 8-bit integer */

/* Signed 16-bit integer */

/* Signed 32-bit integer */

/* Unsigned 8-bit integer */

/* Unsigned 16-bit integer */

/* Unsigned 32-bit integer */

/* 8-bit value with unknown data type */

/* 16-bit value with unknown data type */

/* 32-bit value with unknown data type */

/* Pointer to unknown data type */

/* Pointer to a function */

/* Signed 32-bit integer */

/* Unsigned 32-bit integer */

/* Object ID number */

/* Priority */

VW;

*VP;

(*FP)();

INT

UINT;

ID;

PRI;

TMO;

ER;

ATR;

STAT;

MODE;

SIZE;

RELTIM

VP_INT;

/* Timeout */

/* Error code(Signed integer) */

/* Object attribute(Unsigned integer) */

/* Task status */

/* Service call operation mode */

/* Memory area size */

/* Relative time */

/* Pointer to an unknown data type, or a signed in-

teger for the processor */

typedef

struct

systim{

utime;

ltimer;

/* System time */

/* Upper16bit of the system time */

/* Lower32bit of the system time */

}

SYS-

TIM;

typedef

ER_UINT;

/* Error code or unsigned integer */

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12.2Common Constants and Packet Format of Structure

----Common formats----

TRUE

FALSE

/* True */

/* False */

----Formats related to task management----

TSK_SELF

TPRI_RUN

/* Specifies the issuing task itself */

/* Specifies priority of task being executed then */

typedef struct t_rtsk {

STAT

PRI

STAT

tskstat;

/* Task status */

/* Current priority of task */

/* Base priority of task */

/* Reason for which task is kept waiting */

/* Object ID for which task is kept waiting */

/* Remaining time before task times out */

/* Number of activation requests */

/* Number of wakeup requests */

/* Number of suspension requests */

tskpri;

tskbpri;

tskwait;

wid;

tskatr;

actcnt;

wupcnt;

suscnt;

TMO

UINT

} T_RTSK;

typedef struct t_rtst {

STAT

tskstat;

tskwait;

/* Task status */

/* Reason for which task is kept waiting */

} T_RTST;

----Formats related to semaphore----

typedef struct t_rsem {

INT

wtskid;

semcnt;

/* ID number of task at the top of waiting queue */

/* Current semaphore count value */

} T_RSEM;

----Formats related to eventflag----

wfmod:

TWF_ANDW

TWF_ORW

H’0000

H’0002

/* AND wait */

/* OR wait */

typedef struct t_rflg {

UINT

wtskid;

flgptn;

/* ID number of task at the top of waiting queue */

/* Current bit pattern of eventflag */

} T_RFLG;

----Formats related to data queue and short data queue----

typedef struct t_rdtq {

UINT

stskid;

rtskid;

sdtqcnt;

/* ID number of task at the top of transmission waiting queue */

/* ID number of task at the top of reception waiting queue */

/* Number of data bytes contained in data queue */

} T_RDTQ;

----Formats related to mailbox----

typedef struct

VP msghead;

} T_MSG;

typedef struct t_msg_pri {

t_msg

{

/* Message header */

T_MSG

PRI

msgque;

msgpri;

/* Message header */

/* Message priority */

} T_MSG_PRI;

typedef struct t_mbx {

T_MSG

wtskid;

*pk_msg;

/* ID number of task at the top of waiting queue */

/* Next message to be received */

} T_RMBX;

----Formats related to fixed-size memory pool----

typedef struct t_rmpf {

UINT

wtskid;

/* ID number of task at the top of memory acquisition waiting queue

frbcnt;

/* Number of memory blocks */

} T_RMPF;

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----Formats related to Variable-size Memory pool----

typedef struct t_rmpl {

SIZE

wtskid;

/* ID number of task at the top of memory acquisition waiting queue

fmplsz;

fblksz;

/* Total size of free areas */

/* Maximum memory block size that can be acquired immediately */

UINT

} T_RMPL;

----Formats related to cyclic handler----

typedef struct t_rcyc {

STAT

RELTIM

cycstat;

lefttim;

/* Operating status of cyclic handler */

/* Remaining time before cyclic handler starts */

} T_RCYC;

----Formats related to alarm handler----

typedef struct t_ralm {

STAT

RELTIM

almstat;

lefttim;

/* Operating status of alarm handler */

/* Remaining time before alarm handler starts */

} T_RALM;

----Formats related to system management----

typedef struct t_rver {

maker;

prid;

spver;

prver;

prno[4];

/* Maker */

/* Type number */

/* Specification version */

/* Product version */

/* Product management information */

} T_RVER;

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12.3Assembly Language Interface

When issuing a service call in the assembly language, you need to use macros prepared for invoking service

calls.

Processing in a service call invocation macro involves setting each parameter to registers and starting ex-

ecution of a service call routine by a software interrupt. If you issue service calls directly without using a ser-

vice call invocation macro, your program may not be guaranteed of compatibility with future versions of

MR100.

The table below lists the assembly language interface parameters. The values set forth in μITRON specifica-

tions are not used for the function code.

Task Management Function

Parameter

ReturnParameter

ServiceCall

INTNo.

FuncCode

ista_tsk

250

stacd

tskid stacd

ercd

actcnt

ercd

sta_tsk

act_tsk

iact_tsk

ter_tsk

can_act

ican_act

chg_pri

ichg_pri

rel_wai

irel_wai

ref_tst

249

250

249

250

249

250

137

250

stacd

tskid

106

tskid tskpri

tskid

pk_rtst ercd

pk_rtsk ercd

iref_tst

ref_tsk

iref_tsk

ext_tsk

get_pri

iget_pri

tskid

ercd

tskpri

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Task Dependent Synchronization Function

Parameter

ReturnParameter

ServiceCall INTNo.

FuncCode

R6R4

slp_tsk

249

250

249

250

249

250

249

250

ercd

wupcnt

ercd

wup_tsk

iwup_tsk

can_wup

ican_wup

tslp_tsk

sus_tsk

isus_tsk

rsm_tsk

irsm_tsk

frsm_tsk

ifrsm_tsk

26 tskid

28 tskid

30 tskid

tmout

36 tskid

38 tskid

40 tskid

42 tskid

40 tskid

42 tskid

tmout

dly_tsk

rel_wai

249

32 tskid

34 tskid

irel_wai

250

Synchronization & Communication Function

Parameter

R3R1

ReturnParameter

ServiceCall

INTNo.

FuncCode

semid

R6R4

R3R1

wai_sem

pol_sem

ipol_sem

sig_sem

isig_sem

twai_sem

ref_sem

iref_sem

wai_flg

249

250

249

250

249

250

249

250

249

250

249

250

249

250

249

ercd

semid

tmout

pk_rsem ercd

64 wfmode

92 wfmode

66 wfmode

waiptn flgid

ercd

flgptn

twai_flg

pol_flg

tmout

fgptn

flgptn

ipol_flg

set_flg

flgptn

104

setptn

flgid

dtqid

iset_flg

ref_flg

pk_rflg

iref_flg

pk_rflg

clr_flg

clrptn

data

iclr_flg

snd_dtq

psnd_dtq

ipsnd_dtq

fsnd_dtq

ifsnd_dtq

tsnd_dtq

tmout

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Synchronization & Communication Function

Parameter

ReturnParameter

ServiceCall

rcv_dtq

INTNo.

249

FuncCode

R3R1

R6R4

R3R1

dtqid

ercd

data

prcv_dtq

iprcv_dtq

trcv_dtq

ref_dtq

249

250

249

250

249

250

249

250

249

250

dtqid

data

dtqid

data

dtqid

tmout

data

dtqid

pk_rdtq

iref_dtq

dtqid

pk_rdtq

snd_mbx

isnd_mbx

rcv_mbx

prcv_mbx

iprcv_mbx

trcv_mbx

ref_mbx

iref_mbx

mbxid

pk_msg

100

102

104

tmout

pk_rmbx ercd

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Interrupt Management Functions

Parameter ReturnParameter

ServiceCall INTNo.

FuncCode

ret_int

251

-- --

System State Management Functions

Parameter

ReturnParameter

ServiceCall INTNo.

FuncCode

rot_rdq

irot_rdq

get_tid

249

250

253

252

249

250

140 tskpri ercd

142 tskpri ercd

144

198

200

206

150

146

148

152

154

156

158

ercd

tskid

iget_tid

loc_cpu

iloc_cpu

dis_dsp

ena_dsp

unl_cpu

iunl_cpu

sns_ctx

sns_loc

sns_dsp

sns_dpn

tskid

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Memorypool Management Functions

ReturnParam-

eter

Parameter

Service-

Call

INT-

No.

Func-

Code

R6R4

R3R1

get_mpf

pget_mpf

ipget_mpf

tget_mpf

rel_mpf

irel_mpf

ref_mpf

iref_mpf

pget_mpl

rel_mpl

249

250

249

250

249

250

108

106

110

mpfid

mplid

ercd

p_blk

tmout

p_blk

112 blk

114 blk

blk

116

118

pk_rmpf

p_blk

120 blk

blk

ref_mpl

iref_mpl

122

pk_rmpl

Time Management Functions

ReturnParameter

Parameter

R2 R6R4

ServiceCall INTNo.

FuncCode

set_tim

iset_tim

get_tim

iget_tim

sta_cyc

ista_cyc

stp_cyc

istp_cyc

ref_cyc

250

124

126

p_systim

ercd

p_systim

128 cycid

130 cycid

132 cycid

134 almid

136 almid

138 almid

pk_rcyc

iref_cyc

sta_alm

ista_alm

stp_alm

istp_alm

ref_alm

iref_alm

pk_rcyc

almtim

pk_ralm

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System Configuration Management Functions

Parameter

ReturnParameter

ServiceCall INTNo.

FuncCode

ref_ver

iref_ver

250

160 pk_rver

ercd

Extenden Function(Reset Function)

Parameter

ReturnParameter

ServiceCall INTNo.

FuncCode

vrst_vdtq

vrst_dtq

vrst_mbx

vrst_mpf

vrst_mpl

vrst_mbf

249

250

249

250

249

192 vdtqid

184 dtqid

186 mbxid

188 mpfid

190 mplid

218 mbfid

ercd

Extenden Function(Short Data Queue Function)

Parameter

ReturnParameter

R0 R1

ercd

ServiceCall INTNo.

FuncCode

R6R4

vsnd_dtq

vpsnd_dtq

vipsnd_dtq

vfsnd_dtq

vifsnd_dtq

vtsnd_dtq

vrcv_dtq

249

250

249

250

249

250

249

250

162 data vdtqid

164 data vdtqid

166 data vdtqid

170 data vdtqid

172 data vdtqid

ercd

228 data vdtqid tmout

174

176

178

180

182

vdtqid

data

vprcv_dtq

viprcv_dtq

vtrcv_dtq

vref_dtq

vdtqid tmout

vdtqid

pk_rdtq ercd

viref_dtq

- 287 -

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- 288 -

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Real-time OS for R32C/100 Series

M3T-MR100/4 User's Manual

Publication Date: September. 16, 2007 Rev.1.00

Sales Strategic Planning Div.

Published by:

Renesas Technology Corp.

Application Engineering Department 1

Edited by:

Renesas Solutions Corp.

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M3T-MR100/4

User's Manual

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