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RI850MP Real-Time Operating System User`s Manual: Coding

1. Parameters I O Parameter Description l ID mpfid ID of fixed sized memory pool O VP p blk Pointer to area storing start address of fixed size memory block l TMO tmout Specified timeout in millisecond TMO_FEVR Wait forever TMO_POL Polling Numerical value Wait time Function This service call acquires the fixed sized memory block from the fixed sized memory pool specified by mpfid and stores the start address of the block in the area specified by p_bik If no fixed size memory blocks could be acquired from the target fixed size memory pool the number of remaining blocks was already 0 when this service call is issued this service queues the invoking task to the fixed size memory pool wait queue and moves it from the RUNNING state to the WAITING state for a fixed size memory block The WAITING state for a fixed sized memory block is cancelled in the following cases and then moved to the READY state Cancellation of WAITING State for a Fixed sized Memory Block Return Value A fixed sized memory block was returned to the target fixed sized memory pool as a result of issu E_OK ing rel_mpf irel_mpf The WAITING state for fixed size memory block acquisition was forcibly released as a result of E_RLWAI issuing rel_wai irel_mpf Time specified by tmout has elapsed timeout E_TMOUT Remarks 1 The queuing order of tasks in the fixed sized memory pool wait queue is determined by the qu
2. Macro Num Description TSK_NONE 0 No tasks awaiting sending are queued in the wait queue Other The ID of the first task awaiting sending queued in the wait queue than 0 rtskid This stores whether there are any tasks awaiting reception in the data wait queue Macro Num Description TSK_NONE 0 No tasks awaiting reception are queued in the wait queue Other The ID of the first task awaiting reception queued in the wait queue than 0 sdtqent This stores the number of data entries queued in the data wait queue dtqatr This stores the data queue attribute queuing method Task queuing method bit 0 TA_TFIFO Order in which data send requests were made TA_TPRI Order of task priority 15 J TA_TFIFO 0 TA_TPRI 1 dtqent This stores the maximum number of data entries that can be queued in the data wait queue R20UT0519EJ0100 Rev 1 00 RENESAS Apr 01 2011 Page 52 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 5 Mailbox information T_ RMBX Mailbox information is defined in the header file packet h that is called from standard header file kernel h typedef struct t_rmbx ID wtskid Existence of waiting task T_MSG pk_msg Existence of waiting message ATR mbxatr Attribute T_RMBX Below are details about the mailbox information wtskid This stores whether there are any tasks queued in the mailbox w
3. irel_mpf Overview Release fixed sized memory block Syntax ER rel_mpf ID mpfid VP bik ER irel_mpf ID mpfid VP blk Parameters Parameter Description i Start address of the memory block to be released Function This service call returns the fixed sized memory block specified by bik to the fixed sized memory pool specified by mpfid If a task is queued to the target fixed sized memory pool wait queue when this service call is issued block return pro cessing is not performed and instead the fixed sized memory block is returned to the relevant task first task of wait queue This removes the target task from the wait queue and changes its status from WAITING state for a fixed size memory block to READY state or from WAITING SUSPENDED state to SUSPENDED state Remarks 1 When this service call returns a fixed size memory block it does not perform a clear The contents of the returned fixed size memory block are therefore undefined 2 Ifa fixed size memory block is returned to a fixed sized memory pool that is different from the one it was acquired from subsequent behavior is not guaranteed Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_PAR 17 blk is invalid blk 0 E_ID 18 mpfid is invalid ID is not identified in Fixed sized
4. E CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_ RLWAI 49 Forced cancellation of Sleeping state Issuance of rel_wai irel_ wai R20UT0519EJ0100 Rev 1 00 ztENESAS Page 76 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Put task in Sleeping state with timeout Syntax ER tslp_tsk TMO tmout Parameters I O Parameter Description TMO tmout Specified timeout in millisecond TMO_FEVR Wait forever TMO_POL Polling Numerical value Wait tim Function Moves this task from RUNNING to Sleeping state In the following cases the Sleeping state is cancelled and then the task is moved to the READY state Cancellation of Sleeping State Return Value A wakeup request was issued as a result of issuing wup_tsk iwup_tsk E_ OK Forced release from Sleeping state as a result of issuing rel_wai irel_wai E_ RLWAI Time specified by tmout has elapsed timeout E_TMOUT Remarks 1 If the task holds a wake up request counter value other than 0 when this service call is issued then no changes are made to the task s state and 1 is subtracted from the wake up request nesting counter 2 If TMO_FEVR is specified in tmout then processing equivalent to slp_tsk will be performed Return Value Macro Num Description E OK 0 Normal termination
5. 41 will be returned Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call EID 18 tskid is invalid ID is not defined in Task information TSK_SELF specified when issued from non task E CTX 25 Context error Issued from CPU lock status E_ OBJ 41 Object status error Target task state is other than SUSPENDED state or WAITING SUSPENDED state R20UT0519EJ0100 Rev 1 00 ztENESAS Page 84 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Forcibly resume task from SUSPENDED state Syntax ER frsm_tsk ID tskid ER ifrsm_tsk ID tskid Parameters I O Parameter Description Function This forcibly cancels the SUSPENDED state of the task specified by tskid sets forced wait request nesting counter to 0 This changes the state of the target task from SUSPENDED state to READY state or from WAITING SUSPENDED state to WAITING state Remarks 1 This service call does not cancel WAITING state 2 This service call does not perform queuing of forced wait cancellation requests For this reason if the target task is in other than SUSPENDED state or WAITING SUSPENDED state the value E_OBu 41 will be returned Return Value Macro Num Description E OK 0 Normal termination E_N
6. In the SCT Information there is no definition for the use of this service call R20UT0519EJ0100 Rev 1 00 ztENESAS Page 168 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Get system state type dispatching disabled state or dispatching enabled state Syntax BOOL sns_dsp void Parameters None Function This service call acquires the system status type as of the time it is issued dispatching disabled or enabled and returns it as the return value Remark Dispatch disabled state transition via issuance of dis_ dsp is defined as follows Dispatcher execution is prevented Return Value Macro Num Description TRUE 1 Normal termination Dispatching disabled state FALSE 0 Normal termination Dispatching enabled state E NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call R20UT0519EJ0100 Rev 1 00 ztENESAS Page 169 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Get system state type dispatching hold state or non dispatching hold state Syntax BOOL sns_dpn void Parameters None Function This service call acquires the system status type as of the time it is issued dispatching hold state or non dispatching hold state and returns it as the return value Remark Dispatch hold state is defined as f
7. nel h Table 13 8 Current State of Cyclic Handler Macro Num Description TCYC_STP 0x0 Non operational state TCYC_STA 0x1 Operational state R20UT0519EJ0100 Rev 1 00 tENESAS Page 45 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 2 9 Other constants Other constants are defined in the header file options h that is called from standard header file kernel h Table 13 9 Other Constants Macro Num Description TSK_SELF 0 Current task TSK_NONE 0 Task is not queued TPRI_SELF 0 Current priority of task TPRI_INI 0 Initial priority of task 13 2 10 Conditional compilation macros The RI850MP provides the following macros for conditional compilation Table 13 10 Conditional Compilation Macros Macro Description Cx Use CX as C compiler package __ccv850e__ Use CCV850E as C compiler package __v850e2m__ Use V850E2M as target device R20UT0519EJ0100 Rev 1 00 tENESAS Page 46 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 Data Structures Below are shown the data structures used when processing programs issue service calls provided by the RI850MP 13 3 1 Task information T_RTSK Task information is defined in the header file packet h that is called from standard header file kernel h typedef struct t_rtsk STAT tskstat Current state PRI tskpri Current priority PRI tskbpri Reserved for future u
8. 15 2 2 4 Task creation 16 CHAPTER 3 TASK DEPENDENT SYNCHRONIZATION FUNCTIONS 17 3 1 Outline 17 CHAPTER 4 SYNCHRONIZATION AND COMMUNICATION FUNCTIONS 18 4 1 Outline 18 4 2 Semaphores 18 4 2 1 Semaphore creation 18 4 3 Eventflags 18 4 3 1 Eventflag creation 18 4 4 Data Queues 19 4 4 1 Data queue creation 19 4 5 Mailboxes 19 4 5 1 Mailbox creation 19 CHAPTER 5 EXTENDED SYNCHRONIZATION AND COMMUNICATION FUNCTIONS 20 5 1 Outline 20 5 2 Mutexes 20 5 2 1 Mutex creation 20 CHAPTER 6 MEMORY POOL MANAGEMENT FUNCTIONS 21 6 1 Outline 21 6 2 Fixed Sized Memory Pool 21 6 2 1 Fixed sized memory pool creation 21 CHAPTER 7 TIME MANAGEMENT FUNCTIONS 22 7 1 Outline 22 7 2 Timer Interrupts 22 7 2 1 Registration of timer interrupts 22 7 3 Cyclic Handler 22 7 3 1 Cyclic handler states 22 7 3 2 Basic format of cyclic handlers 23 7 3 3 Cyclic handler registration 23 CHAPTER 8 SYSTEM STATE MANAGEMENT FUNCTIONS 24 8 1 Outline 24 CHAPTER 9 INTERRUPT MANAGEMENT FUNCTIONS 25 9 1 Outline 25 9 2 User Own Coding Modules 25 9 2 1 Interrupt mask logical OR routine 25 9 2 2 Interrupt mask acquisition routine 26 9 2 3 Interrupt mask overwrite routine 26 9 2 4 Disable interrupt routine 27 9 2 5 Enable interrupt routine 27 9 2 6 Interrupt entry routine 28 9 3 Interrupt Handlers 28
9. 86 chg_pri 69 oP Domain information 192 clr_flg 99 Static APl information 193 CPU exception handler information 206 Current state of cyclic handler 45 E Current task status 45 Enable interrupt routine 27 Cyclic handler information 56 203 ena_dsp 166 ena_int 174 D Eventflag information 51 197 Data macros 42 Extended synchronization and communication functions Current state of cyclic handler 45 ig Current task status 45 l iref_mtx 139 Data types 42 loc_mtx 133 Object attributes 44 ploc_mtx 135 Other constants 46 ref_mtx 139 Return values 43 tloc_mtx 136 Task request conditions 44 unl_mtx 138 Task wait causes 45 ext_tsk 67 Task wait time 44 Data queue information 52 198 F Data structures 47 Fixed sized memory pool information 55 201 Cyclic handler information 56 Floating point setting status register information 189 Data queue information 52 frsm tsk 85 Eventflaginformation 51 fsnd_dtq 113 Fixed sized memory pool information 55 Mailbox information 53 R20UT0519EJ0100 Rev 1 00 tENESAS Page 210 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX C INDEX G iprcv_mbx 126 get_ipm 176 ipsnd_dtq 110 get_mpf 142 iref_cyc 156 get_pri 72 iref_dtq 119 get_tid 161 iref_flg 106 get_tim 152 iref_mbx 130 iref_mpf 148 H iref_mtx
10. Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 1 Task information The following items are defined as task information ID tskid Attribute tskatr Extended information exinf Startup address task Initial priority itskpri Stack size stksz Section name secnam System reserved area stk 1 to 1 023 tasks can be specified as task information The description format of task information is as follows CRE_TSK tskid tskatr exinf task itskpri stksz secnam stk 1 2 3 ID tskid This specifies the task ID Only names can be specified as tskid Remark The correspondence between tskid and numerical values is output to the system information header file in the following format define tskid number Attribute tskair This specifies the task attributes language in which task is coded initial state and initial interrupt state Only the following keywords can be specified as tskatr Language in which task is coded TA_HLNG C language TA_ASM Assembly language Initial task state optional TA_ACT READY state Initial task interrupt state optional TA_ENAINT Interrupts enabled TA_DISINT Interrupts disabled Remarks 1 If the specification of TA_ACT is omitted then the initial task state will be DORMANT state 2 Ifthe specification of TA_ENAINT and TA_DISINT are omitted then the initial task interrupt state will be interrupt
11. Comments Parts between the start of comment and the end of comment and parts from the start of comment to the line end are regarded as comments Remark When np is specified as the configurator activation option parts from the line head to the line end are also regarded as comments Numeric values Words starting with a numeric value 0 to 9 are regarded as numeric values The RI850MP distinguishes numeric values as follows Decimal Words starting with 1 to 9 Hexadecimal Words starting with Ox or 0X Names wow Words starting with an alphabetic character a to z A to Z or underscore are regarded as names Up to 255 characters can be specified for names Remarks 1 The RI850MP distinguishes between symbol names and other names based on the context in the configuration file 2 The RI850MP distinguishes between lower case a to z and upper case A to Z in the configura tion file Symbol names Words starting with an alphabetic character a to z A to Z or underscore are regarded as symbol names Up to 4095 characters can be specified for symbol names Remarks 1 The RI850MP distinguishes between symbol names and other names based on the context in the configuration file 2 The RI850MP distinguishes between lower case a to z and upper case A to Z in the configura tion file 3 Symbol names can also be written in the format symbol name offset but the offset values that can be
12. p_systim 0 E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 152 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS sta_cyc ista_cyc Overview Start cyclic handler Syntax ER sta_cyc ID cycid ER ista_cyc ID cycid Parameters 1 0 Parameter Description Function This issues an activation request to the cyclic handler specified by cycid and moves the task from non operational state to operating state The behavior from the issuance of this service call until the first time that the target cyclic handler performs processing will depend on whether the TA_PHS attribute save flag save activation phase is assigned to the target cyclic handler If the TA_PHS attribute has been assigned The target cyclic handler performs processing with timing adhering to the Activation phase cycphs and Cycle start cyctim using the completion of registration of the target cyclic handler in the Kernel Initialization Module as a refer ence point The timing of processing when the TA_STA attribute initial state operating state is assigned to the target cyclic handler is shown below Execute processing Execute processing Execute processing Execute processing E Execute processing hs cyctim cyctim cyctim cyctim cycp cyctim cyctim t Registraion complete t stp_cyc issued t sta_cyc issued If the TA_P
13. 0 E_ID 18 figid is invalid ID is not defined in Eventflag information E_ CTX 25 Context error Issued from CPU lock status E_ILUSE 28 Invalid service call use Issued for an eventflag with a TA_WSGL attribute and a task is already queued E_TMOUT 50 Polling failure The bit pattern of the target eventflag does not satisfy the wait condition R20UT0519EJ0100 Rev 1 00 2tENESAS Page 103 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Bit pattern determined with timeout Syntax ER twai_flg ID flgid FLGPTN waiptn MODE wfmode FLGPIN p_flgptn TMO tmout Parameters 1 0 Parameter Description ID flgid ID of eventflag FLGPTN waiptn Request bit pattern MODE wfmode Request conditions TWF_ANDW AND wait TWF_ORW OR wait O FLGPTN p_flgptn Pointer to the area in which bit pattern is stored l TMO tmout Specified timeout in millisecond TMO_FEVR Wait forever TMO_POL Polling Numerical value Wait time Function This determines whether the current bit pattern of the eventflag specified by flgid meets the conditions of the request bit pattern specified by waiptn and the request conditions specified by wfmode If the bit pattern satisfied the requirements the current bit pattern in question is stored in the area specified by p_flgptn If the current bit pattern of the ta
14. 9 3 1 Basic format of interrupt handlers 28 9 3 2 Interrupt handler registration 29 CHAPTER 10 SYSTEM CONFIGURATION MANAGEMENT FUNCTIONS 30 10 1 Outline 30 10 2 User Own Coding Modules 30 10 2 1 CPU exception entry routine 30 10 3 CPU Exception Handlers 31 10 3 1 Basic format of CPU exception handlers 31 10 3 2 CPU exception handler registration 31 10 4 Initialization Routine 32 10 4 1 Basic format of initialization routines 32 10 4 2 Initialization routine registration 32 CHAPTER 11 SCHEDULER 33 11 1 Outline 33 11 2 Drive Method 33 11 3 Scheduling Methods 33 11 4 Ready Queue 34 11 4 1 Ready queue creation 34 11 5 Scheduling Lock Function 34 11 6 Idle Routine 34 11 6 1 Basic format of idle routine 35 11 6 2 Idle routine registration 35 CHAPTER 12 SYSTEM INITIALIZATION ROUTINE 36 12 1 Outline 36 12 2 User Own Coding Modules 37 12 2 1 Reset entry routines 37 12 2 2 Boot processing 38 12 3 Kernel Initialization Module 39 12 4 Initialization Routine 39 CHAPTER 13 SERVICE CALLS 40 13 1 Outline 40 13 1 1 Calling a service call 41 13 2 Data Macros 42 13 2 1 Datatypes 42 13 2 2 Return values 43 13 2 3 Object atiributes 44 13 2 4 Task wait time 44 13 2 5 Task request conditions 44 13 2 6 Current task status 45 13 2 7 Task wait causes 45 13 2 8 Current state of cyclic
15. E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_ PAR 17 tmout is invalid tmout lt TMO_FEVR E_ CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 77 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description E_RLWAI 49 Forced cancellation of Sleeping state Issuance of rel_wai irel_waii E_TMOUT 50 Timeout Time specified by tmout has elapsed timeout R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 78 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Resume task after sleep Syntax ER wup_tsk ID tskid ER iwup_tsk ID tskid Parameters I O Parameter Description ID tskid ID of task TSK_SELF Current task Numerical value ID of task Function This issues a wake up request to the task specified by tskid and moves the task from Sleeping state to READY state If the target task is in a state other than the Sleeping state when this service call is issued this service call does not change the task s state and instead increments the activation request counter by adding 1 to it Remark If issuing this service call would cause the wake up request nesting count to exceed 127 then the wake
16. Message body Message with Priority T MSG_PRI typedef struct t_msg_pri T_MSG msgque Reserved for future use PRI msgpri Priority E Message body T_MSG_PRI Function This service call transmits the message specified by pk_msg to the mailbox specified by mbxid queues the message in the wait queue If a task has been queued to the reception wait queue of the target mailbox when this service call is issued this service call does not send the message and instead transfers the message to the task first task in wait queue This removes the target task from the wait queue and changes its status from WAITING state for a mailbox to READY state or from WAITING SUSPENDED state to SUSPENDED state R20UT0519EJ0100 Rev 1 00 2tENESAS Page 122 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Remarks 1 The RI850MP s synchronization and communication functions mailboxes only receive and pass the start address of the message as their message send and receive processing They do not copy the contents of the message in question into a separate area 2 Messages are queued in the mailbox wait queue according to the queuing method specified by Attribute mbxatr order in which message send requests were made or order of message priority 3 See 13 3 9 Message no priority T MSG and 13 3 10 Message with priority T MSG_PRI for detai
17. Remarks 1 For details about the static API DEF_INH refer to B 5 9 Interrupt handler information 2 The RI850MP provides TIME MANAGEMENT FUNCTIONS by utilizing timer interrupts that occur at constant intervals For this reason it is not possible to register an interrupt handler for an exception code defined with Timer interrupt information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 29 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 10 SYSTEM CONFIGURATION MANAGEMENT CHAPTER 10 SYSTEM CONFIGURATION MANAGEMENT FUNCTIONS This chapter describes the system configuration management functions provided by the RI850MP 10 1 Outline The system configuration management functions provided by the RI850MP include CPU exception handlers which are activated when a CPU exception occurs and initialization routines called from SYSTEM INITIALIZATION ROUTINE 10 2 User Own Coding Modules To enable the RI850MP to support various execution environments system configuration management functions that depend on the user execution environment are extracted in a user own coding module and provided as sample source files This enhances portability for various execution environments and facilitates customization as well 10 2 1 CPU exception entry routine This is a routine dedicated to entry processing It is extracted in a target dependent module for assignment of instruc tions to branch to interrupt preprocessing for a handler address to whic
18. Table 13 15 Synchronization and Communication Functions Data Queues Service Call Function Overview snd_dtq Send to data queue psnd_dta ipsnd_dtq Send to data queue polling tsnd_dtq Send to data queue with timeout fsnd_dtq ifsnd_dtq Force send to data queue rcv_dtq Receive from data queue prcv_dtq iprcv_dtq Receive from data queue polling trcv_dtq Receive from data queue with timeout ref_dtq iref_dtq Reference data queue information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 107 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Send to data queue Syntax ER snd_dtq ID dtqid VP_INT data Parameters I O Parameter Description l ID dtqid ID of data queue l VP_INT data Data element to be sent Function This sends the data specified by data to the data queue specified by dtqid Note that when this service call is issued if the amount of data written to the target data queue s buffer area is the same as the value specified by Maximum data count diqcnt then the data send operation is not performed Instead the data is queued to the data wait queue for the current task and the state changes from RUNNING state to Sending WAITING state for a data queue The Sending WAITING state for a queue is cancelled in the following cases and then the state transitions from the Sending WAITING state for a data queue to the
19. Therefore mailboxes cannot be created dynamically by issuing a service call from a processing program Static mailbox creation means defining of mailboxes by using the static API CRE_MBX in the system configuration file Remark For details about the static API CRE MBX refer to B 5 5 Mailbox information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 19 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 5 EXTENDED SYNCHRONIZATION AND CHAPTER 5 EXTENDED SYNCHRONIZATION AND COMMUNICATION FUNCTIONS This chapter describes the extended synchronization and communication functions provided by the RI850MP 5 1 Outline The RI850MP provides mutexes as extended synchronization and communication functions to enable synchronization between tasks Remark For details about service calls provided by the RI850MP for extended synchronization and communication functions refer to 13 4 7 Extended synchronization and communication functions 5 2 Mutexes Mutexes are provided to enable synchronization between tasks 5 2 1 Mutex creation The RI850MP supports only static mutex creation Therefore mutexes cannot be created dynamically by issuing a ser vice call from a processing program Static mutex creation means defining of mutexes by using the static API CRE_MTX in the system configuration file Remark For details about the static API CRE MTX refer to B 5 6 Mutex information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 20 of 218 Apr 0
20. Timer interrupt information SYS_STK sysstksz peno System stack information MAX_PRI maxtpri Maximum priority information DEF_FPSR fpsr Floating point setting status register information MEM_AREA secnam secszZ Section information DOMAIN_ALLOCATION domnam peno Processor element information Domain Information DOMAIN domnam Static API Information CRE_TSK tskid tskatr exinf task itskpri stksz secnam stk Task information CRE_SEM semid sematr isemcnt maxsem Semaphore information CRE_FLG flgid flgatr iflgptn Eventflag information CRE_DTQ dtqid dtqatr dtqcnt secnam dtq Data queue information CRE_MBX mbxid mbxatr maxmpri mprihd Mailbox information CRE_MTX mtxid mtxatr ceilpri Mutex information CRE_MPF mpfid mpfatr blkcnt blksz secnam mpf Fixed sized memory pool information CRE_CYC cycid cycatr exinf cychdr cyctim cycphs Cyclic handler information DEF_INH inhno inhatr inthdr Interrupt handler information DEF_EXC excno excatr exchdr CPU exception handler information ATT_INI iniatr exinf inirtn Initialization routine information VATT_IDL idlatr idlrtn Idle routine information SCT Information DEF_SCT svc_nam R20UT0519EJ0100 Rev 1 00 2tENESAS Page 182 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 2 Declarative Information De
21. je Current state Current priority Reserved for future use Wait cause Object ID Remaining time until timeout Activation request nesting count Wake up request nesting count Forced wait request nesting count Attribute Initial priority PE number Function Stores task information current state etc of the task specified by tskid in the area specified by pk_rtsk Remark See 13 3 1 R20UT0519EJ0100 Rev 1 00 Apr 01 2011 Task information T_RTSK for details about task information ztENESAS Page 73 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 pk_rtsk is invalid pk_risk 0 E ID 18 tskid is invalid ID is not defined in Task information TSK_SELF specified when issued from non task E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 2tENESAS Page 74 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 2 Task dependent synchronization functions The following shows the service calls provided by the RI850MP as task dependent synchronization functions Table 13 12 Task Dependent Synchronization Functions Servic
22. l ID tskid ID of task TSK_SELF Current task Numerical value I D of task Function This cancels the activation requests stored in the task specified by tskid sets the activation request nest counter to 0 and returns the cancelled activation request nesting count nesting count of act_tsk iact_tsk as the return value Remarks 1 If the target task is in DORMANT state then a value of 0 is returned 2 This service call does not manipulate the state of the task e g moving it from READY to DORMANT state Return Value Macro Num Description Normal termination Number of activation request nesting levels cancelled E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call EID 18 tskid is invalid ID is not defined in Task information TSK_SELF specified when issued from non task E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 tENESAS Page 66 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview End this task Syntax void ext_tsk void Parameters None Function Moves this task from RUNNING to DORMANT state If this task retains activation requests its count value is other than 0 when this service call is issued then after the task state is changed processing equivalent to act_tsk iact_tsk is performed Remarks 1 If this service c
23. mpfatr This stores the fixed sized memory pool attribute queuing method Task queuing method bit 0 TA_TFIFO Order in which fixed size memory block acquisition was requested TA_TPRI Order of task priority 15 0 7 TA_TFIFO TA_TPRI 1 R20UT0519EJ0100 Rev 1 00 RENESAS Apr 01 2011 Page 55 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 8 Cyclic handler information T_RCYC Cyclic handler information is defined in the header file packet h that is called from standard header file kernel h typedef struct t_rcyc STAT cycstat Current state RELTIM lefttim Remaining time ATR cycatr Attribute RELTIM cyctim Activation cycle RELTIM cycphs Starting phase PE_ID peid PE number T_RCYC The details of cyclic handler information are described below cycstat This stores the cyclic handler s current status Macro Num Description TCYC_STP 0x0 Non operational state TCYC_STA 0x1 Operational state lefttim This stores the remaining time in milliseconds until the cyclic handler will be activated next cycatr This stores the cyclic handler attributes language in which task is coded initial state and storage flag Language in which cyclic handler is coded bit 0 TA_HLNG C language TA_ASM Assembly language Initial state of cyclic handler bit 1 TA_STA Operational state Whether activation phas
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25. E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 p_tskid is invalid p_tskid 0 E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 161 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS loc_cpu iloc_cpu Overview Transition to locked CPU state Syntax ER loc_cpu void ER iloc_cpu void Parameters None Function These service calls change the system status type from the CPU unlocked state to the CPU locked state This will prevent dispatcher task switching and disable the acknowledgement of all maskable interrupts from the time this service call is issued until unl_cpu iunl_cpu is issued Remarks 1 CPU locked state transition via this service call is defined as follows Dispatcher execution is prevented Acceptance of maskable interrupts is disabled 2 This service call does not perform queuing of lock requests As a result if the system status type can not be changed when this service call is issued the system status type was already CPU locked state then no actions will be performed and it will also not be treated as an error 3 Ifa maskable interrupt is raised when in CPU locked state transition to the corresponding interrupt handler will be delayed until un _cpu iun _cpu is issued 4 The RI850MP uses a timer i
26. For this reason the RI850MP separates this processing from the User own coding module and provides it as a sample source file See 9 2 5 Enable inter rupt routine for details about _kernel_usr_ena_int Return Value Macro Num Description E_OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 intno is invalid 0x0 lt intno lt 0x70 Not supported on target device exception cause code E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 174 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS chg_ipm ichg_ipm Overview Change priority mask register Syntax ER chg_ipm INTPMR ipmptn ER ichg_ipm INTPMR ipmptn Parameters VO Parameter Description La INTPMT ipmptn Register value after change Function This changes the value of the Priority Mask Register PMR to the value specified by jomptn Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 175 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS get_ipm ige
27. ID of the first task queued in the wait queue than 0 flgptn This stores the current bit pattern of the eventtflag flgatr This stores the eventflag attributes queuing method maximum number of tasks and clearing method Task queuing method bit 0 TA_TFIFO Order in which determination of bit pattern was requested TA_TPRI Order of task priority Maximum number of tasks that can be queued bit 1 TA_WSGL 1 task TA_WMUL Multiple tasks Method of clearing bit pattern bit 2 TA CLR Bit pattern cleared if the request conditions are met 15 2 1 0 TA_TFIFO 0 TA_TPRI 1 TA_WSGL 0 TA_WMUL 1 TA CLR 1 Remark _ If the bit pattern clearing method is Do not clear bit pattern when request conditions are met then 0 will be stored in bit 2 R20UT0519EJ0100 Rev 1 00 2tENESAS Page 51 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 4 Data queue information T RDTQ Data queue information is defined in the header file packet h that is called from standard header file kernel h typedef struct t_rdtq ID stskid Existence of tasks awaiting sending ID rtskid Existence of tasks awaiting receiving UINT sdtqcent Data count ATR dtqatr Attribute UINT dtqent Max data count T_RDTOQ Below are details about the data queue information stskid This stores whether there are any tasks awaiting sending in the data wait queue
28. If tmout is specified as TMO_FEVR then the processing is equivalent to rcv_mbx If it is specified as TMO_POL then the processing is equivalent to prcv_mbx iprcv_mbx See 13 3 9 Message no priority T MSG and 13 3 10 Message with priority T MSG_PRI for details about messages no priority and messages with priority Macro Num Description E OK 0 Normal termination E NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 ppk_msg or tmout is invalid ppk_msg 0 tmout lt TMO_FEVR EID 18 mbxid is invalid ID is not identified in Mailbox information E CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_RLWAI 49 Forced cancellation of WAITING state for a mailbox Issuance of rel_wai irel_ wai E_TMOUT 50 Timeout Time specified by tmout has elapsed timeout R20UT0519EJ0100 Rev 1 00 tENESAS Page 129 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS ref_mbx iref_mbx Overview Reference mailbox information Syntax ER ref_mbx ID mbxid T_RMBX pk_rmbx ER iref_mbx ID mbxid T_RMBX pk_rmbx Parameters Parameter Description re T_RMBX pk_rmbx Pointer to area storing mailbox information Mailbox Information T_RMBX typedef struct t_rmbx ID wtskid Existence of waiting ta
29. In the SCT Information there is no definition for the use of this service call E CTX 25 Context error Issued from non task Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 165 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Transition to dispatching enabled state Syntax ER ena_dsp void Parameters None Function This service call moves the system status to the dispatch enabled state This enables task switching by the dispatcher which had been disabled by issuing dis_dsp Remark This service call does not perform queuing of enable requests As a result if the system status type cannot be changed when this service call is issued the system status type was already dispatch enabled state then no actions will be performed and it will also not be treated as an error Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E CTX 25 Context error Issued from non task Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 166 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Get context type non task context or task context Syntax BOOL sns_ctx void Parameters None Function This serv
30. In the SCT Information there is no definition for the use of this service call E_ID 18 figid is invalid ID is not defined in Eventflag information E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 2tENESAS Page 99 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Bit pattern determined Syntax ER wai_flg ID flgid FLGPTN waiptn MODE wfmode FLGPTN p_flgptn Parameters I O Parameter Description l ID flgid ID of eventtflag l FLGPTN waiptn Request bit pattern l MODE wfmode Request conditions TWF_ANDW AND wait TWF_ORW OR wait O FLGPTN p_flgptn Pointer to the area in which bit pattern is stored Function This determines whether the current bit pattern of the eventflag specified by flgid meets the conditions of the request bit pattern specified by waiptn and the request conditions specified by wfmode If the bit pattern satisfied the requirements the current bit pattern in question is stored in the area specified by p_flgptn If the current bit pattern of the target eventflag does not satisfy the required condition when this service call is issued the invoking task is queued to the target eventflag wait queue after which the task transitions from the RUNNING state to the WAITING state WAITING state for an eventflag The WAITING state for an eventflag is cancelled in the following cases and
31. Normal termination Number of wake up request nesting levels cancelled E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call EID 18 tskid is invalid ID is not defined in Task information TSK_SELF specified when issued from non task E CTX 25 Context error Issued from CPU lock status E_ OBJ 41 Object status error The target task is in DORMANT state R20UT0519EJ0100 Rev 1 00 ztENESAS Page 80 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS rel_ wai irel_wai Overview Forced cancellation of WAITING state Syntax ER vrel_wai ID tskid ER irel_wai ID tskid Parameters I O Parameter Description Function This forcibly cancels the WAITING state of the task specified by tskid This removes the target task from the wait queue and changes its status from WAITING state to READY or from WAITING SUSPENDED state to SUSPENDED state Remarks 1 This service call does not cancel SUSPENDED state 2 E _RLWAI 49 is returned from the service call that triggered the move to the WAITING state slp_tsk dly_tsk wai_sem or the like to the task whose WAITING state is forcibly cancelled by this service call Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information ther
32. Other ID of task that has acquired it than 0 wtskid This stores whether there are any tasks queued in the mutex wait queue Macro Num Description TSK_NONE 0 No tasks are queued in the wait queue Other The ID of the first task queued in the wait queue than 0 mtxatr This stores the mutex attribute queuing method Task queuing method bit 0 TA_TFIFO Order in which mutex acquisition was requested TA_TPRI Order of task priority 15 0 J TA_TFIFO 0 TA_TPRI 1 ceilpri This area is reserved by the system R20UT0519EJ0100 Rev 1 00 2tENESAS Page 54 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 7 Fixed sized memory pool information T_RMPF Fixed sized memory pool information is defined in the header file packet h that is called from standard header file kernel h typedef struct t_rmpf ID wtskid Existence of waiting task UINT fblkecnt Number of available blocks remaining ATR mpfatr Attribute T_RMPF Below are details about the fixed sized memory pool information wtskid This stores whether there are any tasks queued in the fixed sized memory pool wait queue Macro Num Description TSK_NONE 0 No tasks are queued in the wait queue Other The ID of the first task queued in the wait queue than 0 folkcnt This stores the number of remaining blocks that can be acquired
33. READY state Cancellation of Sending WAITING State for a data queue Return Value Available space was secured in the buffer area of the target data queue as a result of issuing E OK rcv_dtq Available space was secured in the buffer area of the target data queue as a result of issuing E_ OK prcv_dtq iprcv_diq Available space was secured in the buffer area of the target data queue as a result of issuing E_OK trcv_diq Forced release from Sending WAITING state for a data queue as a result of issuing rel_wai E_RLWAI irel_wai If a task has been queued to the reception wait queue of the target data queue when this service call is issued this ser vice call does not send data but transfers the data to the task first task in wait queue This removes the target task from the wait queue and changes its status from Receiving WAITING state for a data queue to READY state or from WAITING SUSPENDED state to SUSPENDED state Remarks 1 On the RI850MP the synchronization and communication functions data queues write data to the buffer area of the data queue as data send processes and read data from these areas as data recep tion processes 2 The queuing order of tasks in the data waiting queue is determined by the queuing method specified by Attribute dtqatr order in which data send requests were made or order of task priority R20UT0519EJ0100 Rev 1 00 2tENESAS Page 108 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHA
34. Receiving WAITING state for a data queue to READY or from WAITING SUSPENDED state to SUSPENDED state Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E ID 18 dtqid is invalid ID is not defined in Data queue information E CTX 25 Context error Issued from CPU lock status E_TMOUT 50 Polling failure Number of data elements exceeds Maximum data count dtqcent R20UT0519EJ0100 Rev 1 00 ztENESAS Page 110 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Send to data queue with timeout Syntax ER tsnd_dtq ID dtqid VP_INT data TMO tmout Parameters I O Parameter Description l ID dtqid ID of data queue l VP_INT data Data element to be sent l TMO tmout Specified timeout in milliseconds TMO_FEVR Wait forever TMO_POL Polling Numerical value Wait time Function This sends the data specified by data to the data queue specified by dtqid Note that when this service call is issued if the amount of data written to the target data queue s buffer area is the same as the value specified by Maximum data count dtqcnt then the data send operation is not performed Instead the data is queued to the data wait queue for the current task and the state changes from execution state to w
35. Release mutex Syntax ER unl_mtx ID mtxid Parameters I O Parameter Description l ID mtxid ID of mutex Function This service call releases the mutex specified by mtxid If a task has been queued to the target mutex wait queue when this service call is issued the mutex release operation is not performed and the mutex is passed to the task first task in wait queue This removes the target task from the wait queue and changes its status from WAITING state for a mutex to READY state or from WAITING SUSPENDED state to SUSPENDED state Return Value Macro Num Description E_OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_ID 18 mixid is invalid ID is not defined in Mutex information E CTX 25 Context error Issued from non task Issued from CPU lock status E_ILUSE 28 Invalid service call use Issued for a mutex that this task has already released Issued for a mutex that another task has acquired R20UT0519EJ0100 Rev 1 00 ztENESAS Page 138 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Reference mutex state Syntax ER ref_mtx ID mtxid T_RMTX pk_rmtx ER iref_mtx ID mtxid T_RMTX pk_rmtx Parameters Parameter Description ata Pointer to the area storing the mutex informati
36. SIZE_AUTO R20UT0519EJ0100 Rev 1 00 2tENESAS Page 190 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 3 8 Processor element information The following items are defined as processor element PE information Domain name domnam PE number peno 1 to 31 items can be specified as processor element information The description format of processor element information is as follows DOMAIN_ALLOCATION domnam peno 1 Domain name domnam This specifies the domain name Only domain names specified in Domain name domnam can be specified in Domain name domnam 2 PE number peno This specifies the PE number of the processor element that assigns the domain Values that can be specified for peno are limited to 1 to 2 R20UT0519EJ0100 Rev 1 00 2tENESAS Page 191 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 4 Domain Information The following item is defined as domain information Domain name domnam 1 to 31 items can be specified as domain information The description format of domain information is as follows DOMAIN domnam Static API Information 1 Domain name domnam This specifies the domain name Only names can be specified as domnam Remark See B 5 Static API Information for details about static API information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 192 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPEND
37. Task dependent synchronization functions 75 Task management functions 63 Time management functions 150 set_flg 97 set_tim 151 sig_sem 88 slp_tsk 76 snd_dtq 108 snd_mbx 122 sns_ctx 167 sns_dpn 170 sns_dsp 169 sns_loc 168 sta_cyc 153 Static API information 193 CPU exception handler information 206 Cyclic handler information 203 Data queue information Eventflag information 198 197 R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 212 of 218 RI850MP Ver 1 00 00 APPENDIX C INDEX Fixed sized memory pool information 201 prcv_mbx 126 Idle routine information 208 rcv_mbx 124 Initialization routine information 207 ref_mbx 130 Interrupt handler information 205 snd_mbx 122 Mailbox information 199 trcv_mbx 128 Mutex information 200 Synchronization and communication functions Semaphore information 196 semaphores 87 Task information 194 ipol_sem 91 stp_cyc 155 iref_sem 94 sus_tsk 82 isig_sem 88 Synchronization and communication functions data pol_sem 91 queues 107 ref_sem 94 fsnd_diq 113 sig_sem 88 ifsnd_dtq 113 twai_sem 92 iprcv_dtq 116 wai_sem 89 ipsnd_dtq 110 System configuration management functions 30 iref_dtq 119 User own coding modules 30 prev_diq 116 System information 184 psnd_dtq
38. Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 10 Message with priority T MSG_PRI Messages with priority are defined in the header file types h that is called from standard header file kernel h typedef struct t_msg_pri T_MSG msgque Reserved for future use PRI msgpri Priority EAE Message body T_MSG_PRI Details of messages with priority are described below msgque This area is reserved by the system msgpri The message priority is stored here Remark In the RI850MP messages with lower priority numbers have higher priority The message body is stored here The structure data types and the like of the message body are specified between the sending and receiving pro grams R20UT0519EJ0100 Rev 1 00 RENESAS Apr 01 2011 Page 59 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 11 System time SYSTIM System times are defined in the header file types h that is called from standard header file kernel h typedef struct t_systim UW ltime System time lower 32 bits UH utime System time higher 16 bits SYSTIM Details about system time are described below Itime This stores the lower 32 bits of the system time in milliseconds utime This stores the upper 16 bits of the system time in milliseconds Remark System time is relative time it is the elapsed time since the system time was initialized in the Kern
39. chapter describes the service calls supported by the RI850MP 13 1 Outline Service calls are provided by the RI850MP to manipulate the resources tasks semaphores data queues etc managed by the RI850MP from a processing program written by the user The service calls provided by the RI850MP are listed below by function Task management functions act_tsk iact_tsk can_act ican_act ext_tsk ter_tsk chg_pri ichg_pri get_pri iget_pri ref_tsk iref_tsk Task dependent synchronization functions slp_tsk tslp_tsk wup_tsk iwup_tsk can_wup ican_wup rel_wai irel_wai sus_tsk isus_tsk rsm_tsk irsm_tsk frsm_tsk ifrsm_tsk dly_tsk Synchronization and communication functions semaphores sig_sem isig_sem wai_sem pol_sem ipol_sem twai_sem ref_sem iref_sem Synchronization and communication functions eventflags set_flg iset_flg clr_flg iclr_flg wai_flg pol_flg ipol_flg twai_flg ref_flg iref_flg Synchronization and communication functions data queues snd_dtq psnd_dtq ipsnd_dtq tsnd_dtq fsnd_dta ifsnd_dtq rcv_dtq prcv_dtq iprcv_dtq trcv_dtq ref_dtaq iref_dtq Synchronization and communication functions mailboxes snd_mbx isnd_mbx rcv_mbx prcv_mbx iprcv_mbx trcv_mbx ref_mbx iref_mbx Extended synchronization and communication functions loc_mtx ploc_mtx tloc_mtx unl_mtx ref_mtx iref_mtx Memory pool management functions get_mpf pget_mpf ipget_mpf tget_m
40. count nesting level count of wup_itsk iwup_tsk maintained by the task If the task is DORMANT state a value of 0 will be stored suscnt This stores the force wait request nesting level count nesting level count of sus_tsk isus_tsk maintained by the task If the task is DORMANT state a value of 0 will be stored R20UT0519EJ0100 Rev 1 00 ztENESAS Page 48 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS tskatr This stores the task attributes language in which task is coded initial state and initial interrupt state Language in which task is coded bit 0 TA_HLNG C language TA_ASM Assembly language Initial task state bit 1 TA_ACT READY state Initial task interrupt state bit 15 TA_ENAINT Interrupts enabled TA_DISINT Interrupts disabled 15 1 0 TA_ENAINT 0 TA_HLNG 0 TA_DISINT 1 TA_ASM 1 TA_ACT 1 Remark if the initial state of the task is DORMANT state 0 will be stored in bit 1 itskpri This stores the task s initial priority peid This stores the PE number of the processor element to which the task belongs R20UT0519EJ0100 Rev 1 00 2tENESAS Page 49 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 2 Semaphore information T_RSEM Semaphore information is defined in the header file packet h that is called from standard header file kernel h typedef struct t_rsem ID wtskid Existence of waiting task UINT semcn
41. cycid Parameters I O Parameter Description Function This issues a termination request to the cyclic handler specified by cycid and moves the task from operating state to non operational state Remark This service call does not perform queuing of termination requests If the target cyclic handler is in other than operational state then no actions will be performed and it will also not be treated as an error Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E ID 18 cycid is invalid ID is not defined in Cyclic handler information E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 155 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS ref_cyc iref_cyc Overview Reference cyclic handler information Syntax ER ref_cyc ID cycid T_RCYC pk_rcyc ER iref_cyc ID cycid T_RCYC pk_rcyc Parameters Parameter Description oie T_RCYC pk_rcyc Pointer to the area storing the cyclic handler information Cyclic handler information T_RCYC typedef struct t_rcyc STAT cycstat Current state RELTIM lefttim Remaining time ATR cycatr Attribute RELTIM cyctim Activation cycle RELTIM cycphs Starting phase P
42. data queue TTW_MBX 0x40 WAITING state for a mailbox TTW_MTX 0x80 WAITING state for a mutex TTW_MPF 0x2000 WAITING state for a fixed sized memory block Remark When a tasks transitions to timeout wait status due to the issuance of tslp_tsk twai_sem twai_flg or the like the logical sum of the value indicating the WAITING state e g TTW_SLP TTW_SEM or TTW_FLG and TTW_DLY is stored wobjid This stores the ID of the object e g semaphore eventflag or data queue that caused the task to go into the wait state A value of 0 will be stored if the state of the task is other than WAITING state for semaphore resource WAITING state for a eventflag Sending WAITING state for a data queue Receiving WAITING state for a data queue WAITING state for a mailbox WAITING state for a mutex or WAITING state for a fixed size memory block lefttmo This stores the time remaining in milliseconds until the Delayed state transition consequent to issuance of tslp_tsk dly_tsk twai_sem or the like will be cleared A value of 0 will be stored if the state of the task is other than Delayed state Remark A value of TMO_FEVR 1 will be stored if the state of the task is wait forever actcnt This stores the activation request nesting level count nesting level count of act_tsk iact_tsk maintained by the task If the task is DORMANT state a value of 0 will be stored wupcnt This stores the wake up request nesting level
43. from 1 to 65535 R20UT0519EJ0100 Rev 1 00 RENESAS Apr 01 2011 Page 196 of 218 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 3 Eventflag information The following items are defined as eventflag information ID flgid Attribute flgatr Initial bit pattern iflgptn 0 to 1 023 items can be specified as eventflag information The description format of eventflag information is as follows CRE_FLG flgid flgatr iflgptn 1 2 3 ID flgid Specifies the ID of the eventflag Only names can be specified as flgid Remark The correspondence between figid and numerical values is output to the system information header file in the following format define flgid number Attribute flgatr This specifies the eventflag attributes queuing method maximum number of tasks and clear flag Only the following keywords can be specified as flgatr Task queuing method TA_TFIFO Order in which determination of bit pattern was requested TA_TPRI Order of task priority Maximum number of tasks that can be queued TA_WSGL 1 task TA_WMUL Multiple tasks Clear bit pattern flag optional TA_CLR Bit pattern cleared if the request conditions are met Remark If the specification of TA_CLR is omitted then the bit pattern will not be cleared when the request con ditions are met Initial bit pattern iflgptn This specifies the initial bit pattern of the eventflag Note that the allowabl
44. have any other inquiries Note 1 Renesas Electronics as used in this document means Renesas Electronics Corporation and also includes its majority owned subsidiaries Note 2 Renesas Electronics product s means any product developed or manufactured by or for Renesas Electronics Readers Purpose Organization How to read this manual Conventions How to Use This Manual This manual is intended for users who design and develop application systems using V850 microcontroller products This manual is intended for users to understand the functions of real time OS RI850MP manufactured by Renesas Electronics described the organization listed below This manual consists of the following major sections CHAPTER 1 GENERAL CHAPTER 2 TASK MANAGEMENT FUNCTIONS CHAPTER 3 TASK DEPENDENT SYNCHRONIZATION FUNCTIONS CHAPTER 4 SYNCHRONIZATION AND COMMUNICATION FUNCTIONS CHAPTER 5 EXTENDED SYNCHRONIZATION AND COMMUNICATION FUNCTIONS CHAPTER 6 MEMORY POOL MANAGEMENT FUNCTIONS CHAPTER 7 TIME MANAGEMENT FUNCTIONS CHAPTER 8 SYSTEM STATE MANAGEMENT FUNCTIONS CHAPTER 9 INTERRUPT MANAGEMENT FUNCTIONS CHAPTER 10 SYSTEM CONFIGURATION MANAGEMENT FUNCTIONS CHAPTER 11 SCHEDULER CHAPTER 12 SYSTEM INITIALIZATION ROUTINE CHAPTER 13 SERVICE CALLS APPENDIX A CONFIGURATOR APPENDIX B CONFIGURATION FILE APPENDIX C INDEX It is assumed that the readers of this manual have general knowledge in the fields of electrical engineering
45. is invalid ID is not defined in Task information TSK_SELF specified when issued from non task E_ CTX 25 Context error Issued from CPU lock status Invoking task specified when issued from dispatching disabled status E_ OBJ 41 Object status error The target task is in DORMANT state R20UT0519EJ0100 Rev 1 00 ztENESAS Page 82 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Description E_QOVR 43 Queuing overflow The forced wait request nesting count exceeds the maximum forced wait request nesting level of 127 R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 83 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Resume task from SUSPENDED state Syntax ER rsm tsk ID tskid ER irsm_tsk ID tskid Parameters I O Parameter Description Function This issues a cancel forced wait request to the task specified by tskid and moves the task to READY or WAITING state If the task holds a forced wait request counter value other than 0 when this service call is issued then no changes are made to the task s state and 1 is subtracted from the forced wait request nesting counter Remark This service call does not perform queuing of forced wait cancellation requests For this reason if the target task is in other than SUSPENDED state or WAITING SUSPENDED state the value E_OBu
46. memory pool information E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 147 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS ref_mpf iref_mpf Overview Reference fixed sized memory pool information Syntax ER ref_mpf ID mpfid T_RMFP pk_rmpf ER iref_mpf ID mpfid T_RMPF pk_rmpf Parameters Parameter Description ae T_RMPF pk_rmpf Pointer to area storing fixed sized memory pool information Fixed Sized Memory Pool Information T_RMPF typedef struct t_rmpf ID wtskid Existence of waiting task UINT fblkcnt Number of available blocks remaining ATR mpfatr Attribute T_RMPF Function Stores fixed sized memory pool state packet ID number of the task at the head of the wait queue number of free mem ory blocks etc of the fixed sized memory pool specified by mpfid in the area specified by pk_rmpf Remark See 13 3 7 Fixed sized memory pool information T_RMPF for details about fixed sized memory pool information Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 pk_rmopf is invalid pk_rmpf 0 E_ID 18 mpfid is invalid ID is not identified in Fixed sized memory pool information R20U
47. non task Issued from CPU lock status E_ILUSE 28 Invalid service call use Issued for a mutex that this task has already acquired E_TMOUT 50 Polling failure Another task has acquired the target mutex R20UT0519EJ0100 Rev 1 00 2tENESAS Page 135 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Acquire mutex with timeout Syntax ER tloc_mtx ID mtxid TMO tmout Parameters I O Parameter Description l ID mtxid ID of mutex l TMO tmout Specified timeout in millisecond TMO_FEVR Wait forever TMO_POL Polling Numerical value Wait time Function This service call acquires the mutex specified by mtxid If the target mutex cannot be acquired another task has already acquired it when this service call is issued this ser vice call queues the invoking task to the target mutex wait queue and moves it from the RUNNING state to WAITING state for a mutex The WAITING state for a mutex is cancelled in the following cases and then the state is moved to the READY state Cancellation of WAITING State for a Mutex Return value The target mutex was released as a result of issuing unl_mtx E_OK The target mutex was released as a result of issuing ext_tsk E_OK The target mutex was released as a result of issuing ter_tsk E_OK The WAITING state for a mutex was forcibly released as a result of issuing rel_wai irel_wai E
48. queue information E CTX 25 Context error Issued from CPU lock status E_TMOUT 50 Polling failure No data has been written to the buffer area of the target data queue R20UT0519EJ0100 Rev 1 00 2tENESAS Page 116 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Receive from data queue with timeout Syntax ER trcev_dtq ID dtqid VP_INT p data TMO tmout Parameters I O Parameter Description l ID dtqid ID of data queue O VP_INT p_data Pointer to area in which data is stored l TMO tmout Specified timeout in millisecond TMO_FEVR Wait forever TMO_POL Polling Numerical value Wait time Function This stores the data received from the data queue specified by dtqid into the area specified by p_data If no data could be received from the target data queue no data has been written to the buffer area when this service call is issued the task is queued onto the data wait queue and then transitions from execution state to waiting to receive data state The Receiving WAITING state for a data queue is cancelled in the following cases and then the state transitions from Receiving WAITING state for a data queue to the READY state Cancellation of Receiving WAITING State for a data queue Return Value Data was sent to the target data queue as a result of issuing snd_diq E_OK Data was sent to the target data queu
49. stored in and run from the ROM of a target system R20UT0519EJ0100 Rev 1 00 2tENESAS Page 12 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 2 TASK MANAGEMENT FUNCTIONS CHAPTER 2 TASK MANAGEMENT FUNCTIONS This chapter describes the task management functions provided by the RI850MP 2 1 Outline The task management functions provided by the RI850MP include functions to reference task states and functions to manipulate task states Remark For details about service called provided by the RI850MP for task management functions refer to 13 4 1 Task management functions 2 2 Tasks A task is processing program that is not executed unless it is explicitly manipulated via service calls provided by the RI850MP unlike other processing programs such as cyclic handlers interrupt handlers and CPU exception handlers 2 2 1 Task states Tasks enter various states according to whether the OS resources required for task execution have been acquired and the occurrence non occurrence of various events The RI850MP classifies task states into the following six types Figure 2 1 Task State Transitions READY state 4 RUNNING state A A q WAITING state WAITING SUSPENDED state gt SUSPENDED state 4 A gt DORMANT state b DORMANT state State of a task that is not active or the
50. task Issued from CPU lock status Issued from dispatching disabled status E_ RLWAI 49 Forced cancellation of Delayed state Issuance of rel_wai irel_ wai R20UT0519EJ0100 Rev 1 00 ztENESAS Page 86 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 3 Synchronization and communication functions semaphores Below is a list of the service calls provided by the RI850MP as synchronization and communication functions sema phores Table 13 13 Synchronization and Communication Functions Semaphores Service Call Function Overview sig_sem isig_sem Release semaphore resource wai_sem Acquire semaphore resource pol_sem ipol_sem Acquire semaphore resource polling twai_sem Acquire semaphore resource with timeout ref_sem iref_sem Reference semaphore information R20UT0519EJ0100 Rev 1 00 RENESAS Apr 01 2011 Page 87 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS sig_sem isig_sem Overview Release semaphore resource Syntax ER sig_sem ID semid ER isig_sem ID semid Parameters I O Parameter Description a ID semid ID of semaphore Function These service calls return the resource to the semaphore specified by semid adds 1 to the semaphore counter If a task is queued in the wait queue of the target semaphore when this service call is issued resource
51. termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 intno is invalid 0x0 lt intno lt 0x70 Not supported on target device exception cause code R20UT0519EJ0100 Rev 1 00 tENESAS Page 172 of 218 Apr 01 2011 CHAPTER 13 SERVICE CALLS RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Description E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 173 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Enable maskable interrupt acknowledgement Syntax ER e na_int INTNO intno Parameters 1 0 Parameter Description INTNO intno Exception cause code Function This service call enables acknowledgment of maskable interrupts corresponding to the exception cause code specified by intno Remarks 1 This service call does not perform queuing of enable requests As a result if the acceptance state of maskable interrupts could not be changed when this service call was issued acceptance of the maskable interrupt had already been enabled then no operation will be performed and it will not be treated as an error 2 The internal processing of this service call Enable interrupt routine _kernel_usr_ena_int is depen dent on the user s execution environment
52. up request is not performed and E_QOVR 43 is returned Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call EID 18 tskid is invalid ID is not defined in Task information TSK_SELF specified when issued from non task E CTX 25 Context error Issued from CPU lock status E_ OBJ 41 Object status error The target task is in DORMANT state E_QOVR 43 Queuing overflow The wake up request nesting count exceeds the maximum wake up request nest ing level of 127 R20UT0519EJ0100 Rev 1 00 ztENESAS Page 79 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS can_wup ican_wup Overview Cancel wake up request Syntax ER_UINT can_wup ID tskid j ER_UINT ican_wup ID tskid Parameters V0 Parameter Description ID tskid ID of task TSK_SELF Current task Numerical value ID of task Function This cancels the wake up requests stored in the task specified by tskid sets the wake up request nest counter to 0 and returns the cancelled wake up request nesting count nesting count of wup_tsk iwup_tsk as the return value Remark This service call does not manipulate the state of the task e g moving it from WAITING state to READY state Return Value Macro Num Description
53. value ID of task O PRI p_tskpri Pointer to area in which current priority is stored Function This acquires the current priority of the task specified by tskid and stores it in the area specified by p_tskpri Return Value Macro Num Description E_OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 p_tskpri is invalid p_tskpri 0 EID 18 tskid is invalid ID is not defined in Task information TSK_SELF specified when issued from non task E_ CTX 25 Context error Issued from CPU lock status E_ OBJ 41 Object status error The target task is in DORMANT state R20UT0519EJ0100 Rev 1 00 ztENESAS Page 72 of 218 Apr 01 2011 RI850MP Ver 1 00 00 Overview Get task information Syntax CHAPTER 13 SERVICE CALLS ER ref_tsk ID tskid T_RTSK pk_rtsk ER iref_tsk ID tskid T_RTSK pk_rtsk Parameters 1 0 Parameter Description l ID tskid ID of task TSK_SELF Current task Numerical value I D of task O T_RTSK pk_rtsk Pointer to the area storing the task information Task Information T_RTSK typedef struct t_rtsk STAT tskstat PRI tskpri ERI tskbpri STAT tskwait ID wobjid TMO lefttmo UINT actcnt UINT wupcnt UINT sus_cnt ATR tskatr PRI itskpri PE_ID peid T_RTSK m T jz T j ja 7 T j ja m
54. will not affect the wait times of tslp_tsk dly_tsk twai_sem or the like or the cyclic handler activation phase or activation frequency 2 See 13 3 11 System time SYSTIM for details about system time Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 p_systim is invalid p_systim 0 E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 151 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS get_tim iget_tim Overview Reference system time Syntax ER get_tim SYSTIM p_systim ER iget_tim SYSTIM p_systim Parameters VO Parameter Description o SYSTIM p systim Pointer to area storing the system time System Time SYSTIM typedef struct t_systim UW ltime System time lower 32 bits UH utime System time higher 16 bits SYSTIM Function This acquires the system time and stores it in the area specified by p_systim Remark See 13 3 11 System time SYSTIM for details about system time Return Value Macro Num Description E_OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 p_systim is invalid
55. 00 2tENESAS Page 17 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 4 SYNCHRONIZATION AND COMMUNICATION CHAPTER 4 SYNCHRONIZATION AND COMMUNICATION FUNCTIONS This chapter describes the synchronization and communication functions provided by the RI850MP 4 1 Outline The synchronization and communication functions of the RI850MP consist of Semaphores Eventflags Data Queues and Mailboxes Remark For details about service calls provided by the RI850MP for synchronization and communication refer to 13 4 3 Synchronization and communication functions semaphores 13 4 4 Synchronization and com munication functions eventflags 13 4 5 Synchronization and communication functions data queues and 13 4 6 Synchronization and communication functions mailboxes 4 2 Semaphores Semaphores are provided to enable synchronization between tasks Remark The RI850MP provides non negative counter type semaphores 4 2 1 Semaphore creation The RI850MP supports only static creation of semaphores Therefore semaphores cannot be created dynamically by issuing a service call from a processing program Static semaphore creation means defining of semaphores by using the static API CRE_SEM in the system configura tion file Remark For details about the static API CRE_SEM refer to B 5 2 Semaphore information 4 3 Eventflags Eventflags are provided to enable synchronization between tasks Remark On the RI850MP the eventtflag wid
56. 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description E PAR 17 tmout is invalid tmout lt TMO_FEVR EID 18 semid is invalid ID is not identified in Semaphore information E CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_RLWAI 49 Forced cancellation of WAITING state for a semaphore resource Issuance of rel_wai irel_ wai E_TMOUT 50 Timeout Time specified by tmout has elapsed timeout R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 93 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS ref_sem iref_sem Overview Reference semaphore information Syntax ER ref_sem ID semid T_RSEM pk_rsem ER iref_sem ID semid T_RSEM pk_rsem Parameters Parameter Description aie T_RSEM pk_rsem Pointer to area storing semaphore information Semaphore Information T_RSEM typedef struct t_rsem ID wtskid Existence of waiting task UINT semcnt Current resource count ATR sematr Attribute UINT maxsem Maximum resource count T_RSEM Function This stores the information e g existence of waiting tasks for the semaphore specified by semid in the area specified by pk_rsem Remark See 13 3 2 Semaphore information T_RSEM for details about semaphore information Return Value Macro Num De
57. 0UT0519EJ0100 Rev 1 00 2tENESAS Page 41 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 2 Data Macros Below are shown the data macros used when processing programs issue service calls provided by the RI8S50MP 13 2 1 Datatypes The data types are defined in the header file types h that is called from standard header file kernel h Table 13 1 Data Types Macro Type Description B signed char Signed 8 bit integer H signed short Signed 16 bit integer WwW signed long Signed 32 bit integer UB unsigned char Unsigned 8 bit integer UH unsigned short Unsigned 16 bit integer UW unsigned long Unsigned 32 bit integer VB signed char 8 bit value with undetermined data type VH signed short 16 bit value with undetermined data type VW signed long 32 bit value with undetermined data type VP void Pointer to value with undetermined data type EP void Startup address of processing program pointer INT signed int Signed 32 bit integer UINT unsigned int Unsigned 32 bit integer BOOL signed int Boolean value TRUE or FALSE FN signed short Function code of service call ER signed long Return value of service call ID signed short Object ID ATR unsigned short Object attribute STAT unsigned short Object status MODE unsigned short Operation mode of service call PRI signed short Object priority SIZE unsigned long Size of the memo
58. 1 2011 RI850MP Ver 1 00 00 CHAPTER 6 MEMORY POOL MANAGEMENT FUNCTIONS CHAPTER 6 MEMORY POOL MANAGEMENT FUNCTIONS This chapter describes the memory pool management functions provided by the RI850MP 6 1 Outline The memory pool management functions of the RI850MP provide a fixed size memory pool to enable dynamic acquisi tion and release of memory areas by processing programs Remark For details about service calls provided by the RI850MP for memory pool management refer to 13 4 8 Memory pool management functions 6 2 Fixed Sized Memory Pool The fixed size memory pool is a memory area where processing programs can dynamically acquire and release mem ory blocks in fixed size units 6 2 1 Fixed sized memory pool creation The RI850MP supports only static creation of the fixed sized memory pool Therefore the fixed sized memory pool cannot be created dynamically by issuing a service call from a processing program Static fixed size memory pool creation means defining of a fixed size memory pool by using the static API CRE_MPF in the system configuration file Remark For details about the static API CRE_MPF refer to B 5 7 Fixed sized memory pool information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 21 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 7 TIME MANAGEMENT FUNCTIONS CHAPTER 7 TIME MANAGEMENT FUNCTIONS This chapter describes the time management functions provided by the RI850MP 7 1 Outline The t
59. 1 00 ztENESAS Page 114 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description EID 18 dtqidis invalid ID is not defined in Data queue information E CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_RLWAI 49 Forced cancellation of Receiving WAITING state for a data queue Issuance of rel_wai irel_wa R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 115 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS prcv_dtq iprcv_dtq Overview Receive from data queue polling Syntax ER prcev_dtq ID dtgid VP_INT p_data ER iprev_dtq ID dtqid VP_INT p_data Parameters Parameter Description a a Pointer to area in which data is stored Function This stores the data received from the data queue specified by dtqid into the area specified by p_ data Note that when this service call is issued if data could not be received from the target data queue no data has been written to the buffer area a return value of E_TMOUT 50 will be returned Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 p_data is invalid p_data 0 E ID 18 dtqid is invalid ID is not defined in Data
60. 1 00 ztENESAS Page 97 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS If the TA_CLR attribute has not been assigned All tasks queued in the wait queue are subject to determination Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_ID 18 flgid is invalid ID is not defined in Eventflag information E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 2tENESAS Page 98 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Bit pattern cleared Syntax ER clr_flg ID flgid FLGPTN clrptn ER iclr_flg ID flgid FLGPTN clrptn Parameters Parameter Description ile FLGPTN clrptn Bit pattern to clear Function This performs a logical AND on the current bit pattern specified by flgid and the clear pattern specified by clrptn and sets the results as the current bit pattern of the target eventtflag Remark If the current bit pattern of the target eventflag is B1100 and the bit pattern specified by clrptn is B1010 then B1000 will be set as the current bit pattern ID Flag_A Hief dJ L clr_flg Flag_A B1010 ID Flag_A coia Return Value Macro Num Description E_OK 0 Normal termination E_NOSPT 9 Unsupported function
61. 110 Base clock cycle information 185 rcv_dtq 114 Floating point setting status register information ref_dtq 119 189 snd_dtq 108 Maximum priority information 188 trev_diq 117 Processor element information 191 tsnd_diq 111 RI series information 184 Synchronization and communication functions Section information 190 eventflags 96 System stack information 187 clr_flg 99 Timer interrupt information 186 iclr_flg 99 System initialization routine 36 ipol_flg 102 Boot processing 38 iref_flg 106 Initialization routine 39 iset_flg 97 Kernel initialization module 39 pol_flg 102 Reset entry routines 37 ref_flg 106 System stack information 187 set_flg 97 System state management functions 158 twai_flg 104 dis_dsp 165 wai_flg 100 ena_dsp 166 Synchronization and communication functions get tid 161 mailboxes 121 iget_tid 161 iprcv_mbx 126 iloc_cpu 162 iref_mbx 130 irot_rdq 159 isnd_mbx 122 iunl_cpu 164 R20UT0519EJ0100 Rev 1 00 2tENESAS Page 213 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX C INDEX loc_cpu 162 Task wait causes 45 rot_rdq 159 Task wait time 44 sns_ctx 167 ter_tsk 68 sns_dpn 170 tget_mpf 145 sns_dsp 169 Time management functions 150 sns_loc 168 unl_cpu 164 System time 60 T Task dependent synchronization function
62. 139 Header file declaration 183 l iact_tsk 64 ican_act 66 ican_wup 80 ichg_ipm 175 ichg_pri 69 iclr_flg 99 Idle routine information 208 ifrsm_tsk 85 ifsnd_dtq 113 iget_pri 72 iget_tid 161 iget_tim 152 iloc_cpu 162 Initialization routine 39 Initialization routine information 207 Interrupt handler information 205 Interrupt management functions 25 171 chg_ipm 175 dis_int 172 ena_int 174 get_ipm 176 ichg_ipm 175 User own coding modules 25 Interrupt mask acquisition routine 26 Interrupt mask logical OR routine 25 Interrupt mask overwrite routine 26 ipget_mpf 144 ipol_flg 102 ipol_sem 91 iref_sem 94 iref_tsk 73 irel_mpf 147 irel_wai 81 irot_rdq 159 irsm_tsk 84 iset_flg 97 iset_tim 151 isig_sem 88 isnd_mbx 122 ista_cyc 153 istp_cyc 155 isus_tsk 82 iunl_cpu 164 iwup_tsk 79 K Kernel initialization module 39 L loc_cpu 162 loc_mtx 133 M Mailbox information 53 199 Maximum priority information 188 Memory pool management functions 141 get_mpf 142 ipget_mpf 144 iref_mpf 148 irel_mpf 147 pget_mpf 144 iprcev_dtq 116 ref_mpf 148 rel_mpf 147 R20UT0519EJ0100 Rev 1 00 ztENESAS Page 211 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX C IND
63. 2 CENESAS T o T T lt 5 C D RI8SOMP Real Time Operating System User s Manual Coding Target Tool RI850MP All information contained in these materials including products and product specifications represents information on the product at the time of publication and is subject to change by Renesas Electronics Corp without notice Please review the latest information published by Renesas Electronics Corp through various means including the Renesas Electronics Corp website http Awww renesas com Renesas Electronics www renesas com Rev 1 00 Apr 2011 8 10 11 12 Notice All information included in this document is current as of the date this document is issued Such information however is subject to change without any prior notice Before purchasing or using any Renesas Electronics products listed herein please confirm the latest product information with a Renesas Electronics sales office Also please pay regular and careful attention to additional and different information to be disclosed by Renesas Electronics such as that disclosed through our website Renesas Electronics does not assume any liability for infringement of patents copyrights or other intellectual property rights of third parties by or arising from the use of Renesas Electronics products or technical information described in this document No license express implied or otherwise is granted hereby under any pat
64. 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS ref_flg iref_flg Overview Eventflag information referenced Syntax ER ref_flg ID figid T_RFLG pk_rflg ER iref_flg ID flgid T_RFLG pk_rflg Parameters Parameter Description ae a Pointer to the area storing the eventtflag information Eventflag Information T_RFLG typedef struct t_rflg ID wtskid Existence of waiting task FLGPIN flgptn Current bit pattern ATR flgatr Attribute T_RFLG Function Stores eventflag information e g waiting task flag of the eventflag specified by figid in the area specified by pk_rtsk Remark See 13 3 3 Eventflag information T_RFLG for details about eventflag information Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_PAR 17 pk_rflg is invalid pk_rflg 0 E_ID 18 flgid is invalid ID is not defined in Eventflag information E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 2tENESAS Page 106 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 5 Synchronization and communication functions data queues Below is a list of the service calls provided by the RI850MP as synchronization and communication functions data queues
65. D is not identified in Mailbox information E CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_ RLWAI 49 Forced cancellation of WAITING state for a mailbox Issuance of rel_wai irel_ wai R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 125 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS prcv_mbx iprcv_mbx Overview Receive from a mailbox polling Syntax ER prcv_mbx ID mbxid T_MSG ppk_msq ER iprcv_mbx ID mbxid T_MSG ppk_msg Parameters Parameter Description oc Start address of the message packet received from the mailbox Message No Priority T_MSG typedef struct t_msg struct t_msg msgque Reserved for future use ete ter Gnas Gs taht Message body Message with Priority T MSG_PRI typedef struct t_msg_pri T_MSG msgque Reserved for future use PRI msgpri Priority E Message body T_MSG_PRI Function Receive a message from the mailbox specified by mbxid and store the start address of the message to the area spec ified by ppk_msg If the message could not be received from the target mailbox no messages were queued in the wait queue when this service call is issued E_TMOUT 50 is returned Remark See 13 3 9 Message no priority T MSG and 13 3 10 Message with priority T MSG_PRI for details abou
66. DY state or RUNNING state are queued in FIFO order at the respective priority posi tion Therefore the RI850MP scheduler executes task detection processing from the highest priority level of the ready queue When it detects tasks in the ready queue it gives the right to use the CPU the first task of the proper priority level Figure 11 1 Ready Queue Ready queue Priority High 1 Management block Management block tskpri Task A Task B RUNNING state READY state Management block tskpri n Task C READY state r maxtpri Priority Low l l 11 4 1 Ready queue creation The RI850MP supports only static ready queue creation Therefore the ready queue cannot be created dynamically by issuing a service call from a processing program Static ready queue creation means defining information related to priority by using the static API MAX_PRI in the sys tem configuration file Remark For details about the static API MAX_PRI refer to B 3 5 Maximum priority information 11 5 Scheduling Lock Function On the RI850MP service calls provided for SYSTEM STATE MANAGEMENT FUNCTIONS loc_cpu iloc_cpu unl_cpu iunl_cpu dis_dsp ena_dsp can be used to manipulate scheduler states explicitly from the processing program to disable and enable dispatch processing 11 6 Idle Routine The idle routine is a routine dedicated to idle processing that is extracted as a user own codi
67. E CALLS pget_mpf ipget_mpf Overview Acquire fixed sized memory block polling Syntax ER pget_mpf ID mpfid VP p_blk ER ipget_mpf ID mpfid VP p_bik Parameters Parameter Description cs a Pointer to area storing start address of fixed size memory block Function This service call acquires the fixed sized memory block from the fixed sized memory pool specified by mpfid and stores the start address of the block in the area specified by p_bik If a fixed size memory block cannot be acquired from the fixed sized memory pool the number of remaining blocks is already 0 when this service call is issued E_TMOUT 50 is returned Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_PAR 17 p_blk is invalid p_blk 0 E_ID 18 mpfid is invalid ID is not identified in Fixed sized memory pool information E_ CTX 25 Context error Issued from CPU lock status E_TMOUT 50 Polling failure The number of blocks that can be acquired from the fixed sized memory pool is 0 R20UT0519EJ0100 Rev 1 00 ztENESAS Page 144 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Acquire fixed sized memory block with timeout Syntax ER tget_mpf ID mpfid VP p_blk TMO tmout
68. ENDIX B CONFIGURATION FILE 180 B 1 Outline 180 B 1 1 Configuration Information 182 B 2 Declarative Information 183 B 2 1 Header file declaration 183 B 3 System Information 184 B 3 1 RI series information 184 B 3 2 Base clock cycle information 185 B 3 3 Timer interrupt information 186 B 3 4 System stack information 187 B 3 5 Maximum priority information 188 B 3 6 Floating point setting status register information 189 B 3 7 Section information 190 B 3 8 Processor element information 191 B 4 Domain Information 192 B 5 Static API Information 193 B 5 1 Task information 194 B 5 2 Semaphore information 196 B 5 3 Eventflag information 197 B 5 4 Data queue information 198 B 5 5 Mailbox information 199 B 5 6 Mutex information 200 B 5 7 Fixed sized memory pool information 201 B 5 8 Cyclic handler information 203 B 5 9 Interrupt handler information 205 B 5 10 CPU exception handler information 206 B 5 11 Initialization routine information 207 B 5 12 Idle routine information 208 B 6 SCT Information 209 APPENDIX C INDEX 210 RI850MP Ver 1 00 00 CHAPTER 1 GENERAL CHAPTER 1 GENERAL 1 1 Outline The RI850MP is a built in real time multi task OS that provides a highly efficient real time multi task environment to increases the application range of processor control units The RI850MP is a high speed compact OS capable of being
69. EX tget_mpf 145 Message no priority 58 Message with priority 59 Mutex information 54 200 O Object attributes 44 Other constants 46 P PE common boot processing 38 PE specific boot processing 38 pget_mpf 144 ploc_mtx 135 pol_flg 102 pol_sem 91 prev_diq 116 prcv_mbx 126 Processor element information 191 psnd_dtq 110 R rcv_diq 114 rcv_mbx 124 ref_cyc 156 ref_diq 119 ref_flg 106 ref_mbx 130 ref_mpf 148 ref_mtx 139 ref_sem 94 ref_tsk 73 rel_mpf 147 rel_wai 81 Reset entry routines 37 Return values 43 RI850MP 12 RI series information 184 rot_rdq 159 rsm_tsk 84 S SCT information 209 Section information 190 Semaphore information 50 196 Service call reference 61 Service calls 40 Data macros 42 Data structures 47 Extended synchronization and communication functions 132 Interrupt management functions 171 Memory pool management functions 141 Service call reference 61 Synchronization and communication functions data queues 107 Synchronization and eventflags Synchronization and mailboxes Synchronization and semaphores communication functions 96 communication functions 121 communication functions 87 System state management functions 158
70. E_ID peid PE number T_RCYC Function This stores the cyclic handler information e g current state of the cyclic handler specified by cycid in the area speci fied by pk_rcyc Remark See 13 3 8 Cyclic handler information T_RCYC for details about cyclic handler information Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 pk_rcyc is invalid pk_rcyc 0 R20UT0519EJ0100 Rev 1 00 ztENESAS Page 156 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description E ID 18 cycid is invalid ID is not defined in Cyclic handler information E_CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 157 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 10 System state management functions The following shows the service calls provided by the RI850MP as system state management functions Table 13 20 System State Management Functions Service Call Function Overview rot_rdq irot_rdq Rotate priority get_tid iget_tid Get ID loc_cpu iloc_cpu Transition to locked CPU state unl_cpu iunl_cpu Transition to unlocked CPU state dis_dsp Transition to dispatching disabled
71. HS attribute has not been assigned The target cyclic handler performs processing with the timing of Cycle start cyctim using the issuance of this service call as the reference point The timing of processing when the TA_STA attribute initial state operating state is assigned to the target cyclic handler is shown below R20UT0519EJ0100 Rev 1 00 ztENESAS Page 153 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Execute processing p Execute processing Execute processing Ayain Ecim gt Execute processing cycphs cyctim cyctim cyctim cyctim cyctim cyctim t Registraion complete i stp_cyc issued t sta_cyc issued Remark This service call does not perform queuing of activation requests If the target cyclic handler is in other than non operational state then no actions will be performed and it will also not be treated as an error Return Value Macro Num Description E_OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E ID 18 cycid is invalid ID is not defined in Cyclic handler information E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 2tENESAS Page 154 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS stp_cyc istp_cyc Overview End cyclic handler Syntax ER stp_cyc ID cycid ER istp_cyc ID
72. IX B CONFIGURATION FILE B 5 Static API Information The following are defined as static API information Task information Semaphore information Eventtflag information Data queue information Mailbox information Mutex information Fixed sized memory pool information Cyclic handler information Interrupt handler information CPU exception handler information Initialization routine information Idle routine information The following illustrates how static API information is written CRE_TSK tskid tskatr exinf task itskpri stksz secnam Task information CRE_SEM semid sematr isemcnt maxsem Semaphore information CRE_FLG flgid flgatr iflgptn Eventflag information CRE_DTQ dtqid dtqatr dtqcnt secnam dtq Data queue information CRE_MBX mbxid mbxatr maxmpri mprihd Mailbox information CRE_MTX mtxid mtxatr ceilpri Mutex information CRE_MPF mpfid mpfatr blkcnt blksz secnam mpf Fixed sized memory pool information CRE_CYC cycid cycatr exinf cychdr cyctim cycphs Cyclic handler information DEF_INH inhno inhatr inthdr Interrupt handler information DEF_EXC excno excatr exchdr CPU exception handler information ATT_INI iniatr exinf inirtn Initialization routine information VATT_IDL idlatr idlrtn Idle routine information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 193 of 218
73. OSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E ID 18 tskidis invalid ID is not defined in Task information TSK_SELF specified when issued from non task E CTX 25 Context error Issued from CPU lock status E_ OBJ 41 Object status error Target task state is other than SUSPENDED state or WAITING SUSPENDED state R20UT0519EJ0100 Rev 1 00 ztENESAS Page 85 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS dly_tsk Overview Put task in Delayed state Syntax ER dly_tsk RELTIM dlytim Parameters 1 0 Parameter Description RELTIM dlytim Specified timeout in millisecond Function This moves the task from RUNNING to Delayed state In the following cases the Delayed state is cancelled and the task is moved to the READY state Cancellation of Delayed State Return Value Wait time specified by dlytim has elapsed E_OK Forced release from Delayed state as a result of issuing rel_wai irel_wai E_RLWAI Remark Even if dlytim is specified as 0 the task state will be changed Return Value Macro Num Description E OK 0 Normal termination Wait time specified by d ytim has elapsed E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E CTX 25 Context error Issued from non
74. PTER 13 SERVICE CALLS Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call EID 18 dtqidis invalid ID is not defined in Data queue information E CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_RLWAI 49 Forced cancellation of Sending WAITING state for a data queue Issuance of rel_wai irel_ wai R20UT0519EJ0100 Rev 1 00 2tENESAS Page 109 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Send to data queue polling Syntax ER psnd_dtq ID dtqid VP_INT data ER ipsnd_dtq ID dtqid VP_INT data Parameters Parameter Description Function This sends the data specified by data to the data queue specified by dtqid Note that when this service call is issued if the amount of data written to the target data queue s buffer area is the same as the value specified by Maximum data count dtqcnt a return value of E_TMOUT 50 is returned If a task has been queued to the reception wait queue of the target data queue when this service call is issued this ser vice call does not send data but transfers the data to the task first task in wait queue This removes the target task from the wait queue and changes its status from
75. RLWAI Time specified by tmout has elapsed timeout E_TMOUT Remarks 1 The queuing order of tasks in the mutex wait queue is determined by the queuing method specified by Attribute mtxatr order in which acquire mutex requests were made or order of task priority 2 If tmout is specified as TMO_FEVR then the processing is equivalent to lloc_mtx If it is specified as TMO_POL then the processing is equivalent to ploc_mtx Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call R20UT0519EJ0100 Rev 1 00 2tENESAS Page 136 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description E PAR 17 tmout is invalid tmout lt TMO_FEVR E_ID 18 mixid is invalid ID is not defined in Mutex information E CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_ILUSE 28 Invalid service call use Issued for a mutex that this task has already acquired E_RLWAI 49 Forced cancellation of WAITING state for a mutex Issuance of rel_wai irel_ wai E_TMOUT 50 Timeout Time specified by tmout has elapsed timeout R20UT0519EJ0100 Rev 1 00 2tENESAS Page 137 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview
76. T0519EJ0100 Rev 1 00 Apr 01 2011 ztENESAS Page 148 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Description E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 149 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 9 Time management functions The following shows the service calls provided by the RI850MP as time management functions Table 13 19 Time Management Functions Service Call Function Overview set_tim iset_tim Change system time get_tim iget_tim Reference system time sta_cyc ista_cyc Start cyclic handler stp_cyc istp_cyc End cyclic handler ref_cyc iref_cyc Reference cyclic handler information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 150 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Change system time Syntax ER set_tim SYSTEM p_systim ER iset_tim SYSTEM p_systim Parameters VO Parameter Description i SYSTIM p_systim Pointer to area storing system time in milliseconds System Time SYSTIM typedef struct t_systim UW ltime System time lower 32 bits UH utime System time higher 16 bits SYSTIM Function These service calls change the system time in milliseconds to the time specified by p_systim Remarks 1 Issuing this service call
77. a the oldest data is deleted and then the data specified by data is sent If a task has been queued to the reception wait queue of the target data queue when this service call is issued this ser vice call does not send data but transfers the data to the task first task in wait queue This removes the target task from the wait queue and changes its status from Receiving WAITING state for a data queue to READY state or from WAITING SUSPENDED state to SUSPENDED state Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E ID 18 dtqid is invalid ID is not defined in Data queue information E_ CTX 25 Context error Issued from CPU lock status E_ILUSE 28 Invalid service call use Maximum data count dtqcnt of target data queue is 0 R20UT0519EJ0100 Rev 1 00 ztENESAS Page 113 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Receive from data queue Syntax ER rcev_dtq ID dtqid VP_INT p data Parameters I O Parameter Description l ID dtqid ID of data queue O VP_INT p_data Pointer to area in which data is stored Function This stores the data received from the data queue specified by dtqid into the area specified by p_data If no data could be received from the target data queue no dat
78. a has been written to the buffer area when this service call is issued the task is queued onto the data wait queue and then transitions from RUNNING state to Receiving WAITING state for a data queue The Receiving WAITING state for a data queue is cancelled in the following cases and then the state transitions from Receiving WAITING state for a data queue to the READY state Cancellation of Receiving WAITING State for a data queue Return Value Data was sent to the target data queue as a result of issuing snd_diq E OK Data was sent to the target data queue as a result of issuing prcv_dtq iprcv_diq E OK Data was sent to the target data queue as a result of issuing tsnd_dtq E_ OK Data was sent to the target data queue as a result of issuing fsnd_dtq ifsnd_diq E OK Forced release from Receiving WAITING state for a data queue as a result of issuing rel_wai E_RLWAI irel_wai Remarks 1 Tasks are queued in the data wait queue in the order in which data reception requests were made 2 Ifthe receiving WAITING state for a data queue is forcibly released by issuing rel_wai irel_wai the con tents of the area specified by p_data will be undefined Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 p_datais invalid p_data 0 R20UT0519EJ0100 Rev
79. age 163 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Transition to unlocked CPU state Syntax ER unl_cpu void ER iunl_cpu void Parameters None Function These service calls change the system status type from the CPU locked state to the CPU unlocked state This performs dispatcher task switching processing this processing was disabled by the issuance of loc_cpu iloc_cpu and enables the acknowledgment of maskable interrupts which had been disabled Remarks 1 2 Return Value This service call does not enable dispatching if it was disabled This service call does not perform queuing of cancellation requests As a result if the system status type cannot be changed when this service call is issued the system status type was already CPU unlocked state then no actions will be performed and it will also not be treated as an error The internal processing of this service call Interrupt mask overwrite routine _kernel_usr_set_intmsk is dependent on the user s execution environment For this reason the RI850MP separates this pro cessing from the User own coding module and provides it as a sample source file See 9 2 3 Inter rupt mask overwrite routine for details about _kernel_usr_set_intmsk Macro Num Description E OK 0 Normal termination E NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of t
80. ait queue ID Task_A Priority 1 ID Task_B Priority 2 ID Task_C Priority 3 e chg_pri Task_A 2 Wait queue ID Task_B ID Task_A ID Task_C Priority 2 Priority 2 Priority 3 Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function Inthe SCT Information there is no definition for the use of this service call E PAR 17 tskpri is invalid tskpri lt 0 tskpri gt Maximum priority maxtpri R20UT0519EJ0100 Rev 1 00 ztENESAS Apr 01 2011 Page 70 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description EID 18 tskid is invalid ID is not defined in Task information TSK_SELF specified when issued from non task E_ CTX 25 Context error Issued from CPU lock status E_ILUSE 28 Invalid service call use The target task belongs to a different PE E_ OBJ 41 Object status error The target task is in DORMANT state R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 71 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS get_pri iget_pri Overview Get the current priority Syntax ER get_pri ID tskid PRI p_tskpri ER iget_pri ID tskid PRI p_tskpri Parameters I O Parameter Description ID tskid ID of task TSK_SELF Current task Numerical
81. ait queue Macro Num Description TSK_NONE 0 No tasks are queued in the wait queue Other The ID of the first task queued in the wait queue than 0 pk_msg This stores whether there are any messages queued in the mailbox wait queue Macro Num Description NULL 0 No messages are queued in the wait queue Other The start address of the first message queued in the wait queue than 0 mbxatr This stores the mailbox attribute queuing method Task queuing method bit 0 TA_TFIFO Order in which message receipt requests were made TA_TPRI Order of task priority Message queuing method bit 1 TA_MFIFO Order in which message send requests were made TA_MPRI Order of message priority 15 1 0 TA_TFIFO 0 TA_TPRI 1 TA_MFIFO 0 TA_MPRI 1 R20UT0519EJ0100 Rev 1 00 2tENESAS Page 53 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 6 Mutex information T_RMTX Mutex information is defined in the header file packet h that is called from standard header file kernel h typedef struct t_rmtx ID htskid Existence of tasks to acquire ID wt skid Existence of waiting task ATR mtxatr Attribute PRI ceilpri Reserved for future use T_RMTX Below are details about the mutex information htskid This stores whether any tasks have acquired the mutex Macro Num Description TSK_NONE 0 No tasks have acquired it 7
82. ait to sending WAITING state The Sending WAITING state for a data queue is cancelled in the following cases and then the state transitions to the READY state Cancellation of Sending WAITING State for a data queue Return Value Available space was secured in the buffer area of the target data queue as a result of issuing E_OK rcv_diq Available space was secured in the buffer area of the target data queue as a result of issuing E_OK prcv_dtq iprcv_dtq Available space was secured in the buffer area of the target data queue as a result of issuing E_OK trev_dtq Forced release from Sending WAITING state for a data queue as a result of issuing rel_wai E_RLWAI irel_wai Time specified by tmout has elapsed timeout E_TMOUT If a task has been queued to the reception wait queue of the target data queue when this service call is issued this ser vice call does not send data but transfers the data to the task first task in wait queue This removes the target task from the wait queue and changes its status from Receiving WAITING state for a data queue to READY state or from WAITING SUSPENDED state to SUSPENDED state R20UT0519EJ0100 Rev 1 00 ztENESAS Page 111 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Remarks 1 Return Value The queuing order of tasks in the data waiting queue is determined by the queuing method specified by Attribute dtqatr order in which data send requests were mad
83. all changes the task to DORMANT state it also performs the following operations Releases the acquired mutex Changes the current priority to the same value as Initial priority itskpri Sets the wake up request nesting counter to 0 Sets the forced wait request nesting counter to 0 Changes the interrupt state to the same state as the initial interrupt state of Attribute tskatr 2 When the return instruction is called in a task the RI850MP performs the same processing this service call 3 If this service call is not defined for use in SCT Information then subsequent behavior is not guaran teed 4 If this service call is issued from a non task or from CPU locked state or dispatching disabled state subsequent behavior is not guaranteed Return Value None R20UT0519EJ0100 Rev 1 00 ztENESAS Page 67 of 218 Apr 01 2011 RI850MP Ver 1 00 00 Overview Forcibly terminate task Syntax CHAPTER 13 SERVICE CALLS ER ter_tsk ID tskid Parameters I O Parameter Description l ID tskid ID of task Function This shifts the task specified in parameter tskid to DORMANT state If the target task retains activation requests its count value is other than 0 when this service call is issued then after the task state is changed processing equivalent to act_tsk iact_tsk is performed Remark If this service call changes the target task to DORMANT state it also performs the following opera
84. ans defining of cyclic handlers by using the static API CRE_CYC in the system configuration file Remark For details about the static API CRE_CYC refer to B 5 8 Cyclic handler information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 23 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 8 SYSTEM STATE MANAGEMENT FUNCTIONS CHAPTER 8 SYSTEM STATE MANAGEMENT FUNCTIONS This chapter describes the system state management functions provided by the RI850MP 8 1 Outline The system state management functions provided by the RI850MP include functions to reference and manipulate sys tem states Remark For details about service calls provided by the RI850MP for system state management refer to 13 4 10 System state management functions R20UT0519EJ0100 Rev 1 00 2tENESAS Page 24 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 9 INTERRUPT MANAGEMENT FUNCTIONS CHAPTER 9 INTERRUPT MANAGEMENT FUNCTIONS This chapter describes the interrupt management functions provided by the RI850MP 9 1 Outline The RI850MP provides interrupt management functions related to the interrupt handlers that are activated when an interrupt occurs Remark For details about service calls provided by the RI850MP for interrupt management refer to 13 4 11 Inter rupt management functions 9 2 User Own Coding Modules To enable the RI850MP to support various execution environments interrupt management processing that depends on the user execution en
85. by p_flgptn will be undefined Macro Num Description E_OK Normal termination E_NOSPT Unsupported function In the SCT Information there is no definition for the use of this service call E_PAR 17 waiptn wfmode or p_figptn is invalid waiptn 0 wimode is invalid p_flgptn 0 18 flgid is invalid ID is not defined in Eventflag information E_CTX Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_ILUSE 28 Invalid service call use Issued for an eventflag with a TA_WSGL attribute and a task is already queued E_RLWAI Forced cancelation of WAITING state for an eventflag Issuance of rel_wai irel_wai R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 101 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS pol_fig ipol_flg Overview Bit pattern determined polling Syntax ER pol_flg ID flgid FLGPTN waiptn MODE wfmode FLGPTIN p_flgptn ER ipol_flg ID flgid FLGPTN waiptn MODE wfmode FLGPTN p_flgptn Parameters 1 0 Parameter Description l ID flgid ID of eventflag l FLGPTN waiptn Request bit pattern MODE wfmode Request conditions TWF_ANDW AND wait TWF_ORW OR wait O FLGPTN p_ flgptn Pointer to the area in which bit pattern is stored Function This determines whether the current bit patte
86. cessing is suspended when a CPU exception occurs and con trol is passed to the CPU exception handler 10 3 1 Basic format of CPU exception handlers Code a CPU exception handler as a void type function that has no arguments The following shows the basic format of a CPU exception handler coded in C include lt kernel h gt void exchdr void return 10 3 2 CPU exception handler registration The RI850MP supports only static registration of CPU exception handlers Therefore CPU exception handlers cannot be registered dynamically by issuing a service call from a processing program Static CPU exception handler registration means defining of CPU exception handlers by using the static API DEF_EXC in the system configuration file Remark For details about the static API DEF_EXC refer to B 5 10 CPU exception handler information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 31 of 218 Apr 01 2011 RI85OMP Ver 1 00 00 CHAPTER 10 SYSTEM CONFIGURATION MANAGEMENT 10 4 Initialization Routine The initialization routine is a routine dedicated to initialization processing that is extracted as a user own coding module to initialize hardware and software that depends on the user execution environment It is called from the SYSTEM INI TIALIZATION ROUTINE 10 4 1 Basic format of initialization routines Code an initialization routine as a void type function that has one VP_INT type argument The argument exinf contains e
87. code specified by Exception cause code tintno or Exception cause code excno 2 Only exception cause code names prescribed in the device file can be specified in this item 2 Attribute inhatr This specifies the interrupt handler s attribute language it is coded in Only the following keywords can be specified as inhatr Interrupt handler language TA_HLNG C language TA_ASM Assembly language 3 Startup address inthdr Specifies the start address for an interrupt handler The value of inthdr must be between 0x0 and OxFFFFFFFE aligned to a 2 byte boundary or a symbol name R20UT0519EJ0100 Rev 1 00 ztENESAS Page 205 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 10 CPU exception handler information The following items are defined as CPU exception handler information Exception cause code excno Attribute excatr Startup address exchdr 0 to 1 items per PE can be defined as CPU exception handler information for each exception cause The format for coding CPU exception handler information is shown below DEF_EXC excno excatr exchdr 1 Exception cause code excno This specifies the exception cause code corresponding to the CPU exception El level software exception or float ing point operation that triggered the activation of the CPU exception handler Values that can be specified for excno are limited to a value aligned on a 16 byte boundary corresponding to the CPU exce
88. cription TWF_ANDW 0x0 AND wait TWF_ORW 0x1 OR wait R20UT0519EJ0100 Rev 1 00 2tENESAS Page 44 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 2 6 Current task status The current task statuses are defined in the header file options h that is called from standard header file kernel h Table 13 6 Current Task Status Macro Num Description TTS_RUN 0x1 RUNNING state TTS_RDY 0x2 READY state TTS_WAI 0x4 WAITING state TTS_SUS 0x8 SUSPENDED state TTS_WAS OxC WAITING SUSPENDED state TTS_DMT 0x10 DORMANT state 13 2 7 Task wait causes The task wait causes wait state types are defined in the header file options h that is called from standard header file kernel h Table 13 7 Task Wait Causes Macro Num Description TTW_NONE 0x0 Not waiting TTW_SLP 0x1 Sleeping state TTW_DLY 0x2 Delayed state TTW_SEM 0x4 WAITING state for a semaphore resource TTW_FLG 0x8 WAITING state for an eventflag TTW_SDTQ 0x10 Sending WAITING state for a data queue TTW_RDTQ 0x20 Receiving WAITING state for a data queue TTW_MBX 0x40 WAITING state for a mailbox TTW_MTX 0x80 WAITING state for a mutex TTW_MPF 0x2000 WAITING state for a fixed sized memory block 13 2 8 Current state of cyclic handler The current cyclic handler states are defined in the header file options h that is called from standard header file ker
89. ctivating from CubeSuite The configurator is activated when CubeSuite performs a build in accordance with the setting on the Property panel on the System Configuration File Related Information tab A 3 Command File The configurator supports a command file in order to avoid the limitation on the number of characters that can be spec ified for activation options on the command line The specification formats of the command file are described below Character code Characters must be in the ASCII character code Japanese can be written in comments only using Shift JIS EUC JP or UTF 8 character codes Comments Lines that start with are treated as comment lines up to the end of the line R20UT0519EJ0100 Rev 1 00 2tENESAS Page 179 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE APPENDIX B CONFIGURATION FILE This appendix explains the coding method for the configuration files B 1 Outline Configuration files are required for creating files system information table file entry file system information header file service call table file that contain configuration information to be provided to the RI850MP These files are to be coded by the user with a text editor The following shows the notation method for configuration files Character code Create the file using ASCII code For Japanese language coding Shift JIS codes EUC JP codes and UTF 8 codes can be used only for com ments
90. d to initialization processing that is extracted as a user own cod ing module to initialize the minimum hardware required in common by PEs It is called from reset entry processing The following shows the basic format of PE common boot processing in assembly tegt align 0x4 global boot boot mov __boot_PE1 r10 mov __boot_PE2 r20 mov PEID r1 ld h Of rl 2 cmp he T2 cmove ELO r20 r21 jmp r21 Branch to PE specific boot processing PE specific boot processing PE specific boot processing is a routine dedicated to initialization processing that is extracted as a user own cod ing module to initialize the minimum hardware and software required by a specific PE It is called from PE common boot processing The following shows the basic format of PR specific boot processing in assembly CX version text align 0x4 global __boot_PEn __boot_PEn extern __kernel_sit mov __kernel_sit r6 jarl __kernel_start lp Branch to kernel initialization module R20UT0519EJ0100 Rev 1 00 CENESAS Page 38 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 12 SYSTEM INITIALIZATION ROUTINE CCV850E version tert align 0x4 global __boot_PEn __boot_PEn extern __kernel_sit mov __kernel_sit r6 jarl __kernel_start lp Branch to kernel initialization module 12 3 Kernel Initialization Module The kernel initialization module is a dedicated initialization processin
91. dtq prcv_dtq iprcv_dtq trcv_dtq ref _dtq iref_dtq Synchronization and communication functions mailboxes snd_mbx isnd_mbx rcv_mbx prcv_mbx iprcv_mbx trcv_mbx ref_mbx iref_mbx Extended synchronization and communication functions loc_mtx ploc_mtx tloc_mtx unl_mtx ref_mtx iref_mtx Memory pool management functions get_mpf pget_mpf ipget_mpf tget_mpf rel_mpf irel_mpf ref_mpf iref_mpf Time management functions set_tim iset_tim get_tim iget_tim sta_cyc ista_cyc stp_cyc istp_cyc ref_cyc iref_cyc System state management functions rot_rdq irot_rdq get_tid iget_tid loc_cpu iloc_cpu unl_cpu iunl_cpu dis_dsp ena_dsp sns_ctx sns_loc sns_dsp sns_dpn Interrupt management functions dis_int ena_int chg_ipm ichg_ipm get_ipm iget_ipm R20UT0519EJ0100 Rev 1 00 2tENESAS Page 209 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX C INDEX APPENDIX C INDEX A Message no priority 58 act_tsk 64 Message with priority 59 Mutex information 54 B Semaphore information 50 Base clock cycle information 185 System time 60 Boot processing 38 Task information 47 PE common boot processing 38 Data types 42 PE specific boot processing 38 Declarative information 183 Header file declaration 183 Disable interrupt routine 27 can_act 66 dis_dsp 165 can_wup 80 dis_int 172 chg_ipm 175 dly_tsk
92. e E_TMOUT 50 Polling failure or timeout TRUE 1 True FALSE 0 False NULL 0 Invalid pointer R20UT0519EJ0100 Rev 1 00 2tENESAS Page 43 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 2 3 Object attributes The object attributes are defined in the header file options h that is called from standard header file kernel h Table 13 3 Object Attributes Macro Num Description TA_HLNG 0x0 C language TA_ASM 0x1 Assembly language TA_TFIFO 0x0 Tasks queued in FIFO order TA_TPRI 0x1 Tasks queued in priority order TA_MFIFO 0x0 Messages queued in FIFO order TA_MPRI 0x2 Messages queued in priority order TA_ACT 0x2 READY state TA_WSGL 0x0 1 task TA_WMUL 0x2 Multiple tasks TA_CLR 0x4 Bit pattern cleared if the request conditions are met TA_STA 0x2 Operating status TA_PHS 0x4 Stores an activation phase TA_ENAINT 0x0 Enables interrupts TA_DISINT 0x8000 Disables interrupts 13 2 4 Task wait time The task wait times are defined in the header file options h that is called from standard header file kernel h Table 13 4 Task Wait Time Macro Num Description TMO_POL 0 Polling TMO_FEVR 1 Wait forever 13 2 5 Task request conditions The task request conditions are defined in the header file options h that is called from standard header file kernel h Table 13 5 Task Request Conditions Macro Num Des
93. e or order of task priority If tmout is specified as TMO_FEVR then the processing is equivalent to snd_dia If it is specified as TMO_POL then the processing is equivalent to psnd_dtq ipsnd_dtq Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_ PAR 17 tmout is invalid tmout lt TMO_FEVR E_ ID 18 dtqid is invalid ID is not defined in Data queue information E CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_RLWAI 49 Forced cancellation of Sending WAITING state for a data queue Issuance of rel_wai irel_ wai E_TMOUT 50 Timeout Time specified by tmout has elapsed timeout R20UT0519EJ0100 Rev 1 00 tENESAS Page 112 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS fsnd_dtq ifsnd_dtq Overview Force send to data queue Syntax ER fsnd_dtq ID dtqid VP_INT data ER ifsnd_dtq ID dtqid VP_INT data Parameters Parameter Description Function This sends the data specified by data to the data queue specified by dtqid Note that when this service call is issued if the amount of data written to the target data queue s buffer area is the same as the value specified by Maximum data count dtqcnt then after the data is written to the buffer are
94. e Call Function Overview slp_tsk Put task in Sleeping state tslp_tsk Put task in Sleeping state with timeout wup_tsk iwup_tsk Resume task after sleep can_wup ican_wup Cancel wake up request rel_wai irel_wai Forced cancellation of WAITING state sus_tsk isus_tsk Put task in SUSPENDED state rsm_tsk irsm_tsk Resume task from SUSPENDED state frsm_tsk ifrsm_tsk Forcibly resume task from SUSPENDED state dly_tsk Put task in Delayed state R20UT0519EJ0100 Rev 1 00 2tENESAS Page 75 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Put task in Sleeping state Syntax ER slp_tsk void Parameters None Function Moves this task from RUNNING to Sleeping state In the following cases the Sleeping state is cancelled and then the task is moved to the READY state Cancellation of Sleeping State Return Value A wakeup request was issued as a result of issuing wup_tsk iwup_tsk E OK Forced release from Sleeping state as a result of issuing rel_wai irel_wai E_ RLWAI Remark If the task holds a wake up request counter value other than 0 when this service call is issued then no changes are made to the task s state and 1 is subtracted from the wake up request nesting counter Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call
95. e acknowledgement of the specified maskable interrupt from the time this service call is issued until ena_int is issued Remarks 1 This service call does not perform queuing of disable requests As a result if the acceptance state of maskable interrupts could not be changed when this service call was issued acceptance of the maskable interrupt had already been disabled then no operation will be performed and it will not be treated as an error 2 If a maskable interrupt is raised when the acceptance of maskable interrupts is disabled the transition to the corresponding interrupt handler is delayed until ena_int is issued 3 The RI850MP uses a timer interrupt which is a type of maskable interrupt as its time management function e g updating the system time task timeouts and activation of cyclic handlers As a result if the acceptance of timer interrupts is disabled continuously for longer than the interval specified by Base clock cycle tbase the time management function may not operate correctly 4 The internal processing of this service call Disable interrupt routine _kernel_usr_dis_int is dependent on the user s execution environment For this reason the RI85OMP separates this processing from the User own coding module and provides it as a sample source file See 9 2 4 Disable interrupt rou tine for details about _kernel_usr_dis_ int Return Value Macro Num Description E OK 0 Normal
96. e as a result of issuing prev_dtg iprev_dtq E_OK Data was sent to the target data queue as a result of issuing tsnd_dtq E_OK Data was sent to the target data queue as a result of issuing fsnd_dtq ifsnd_dtq E_OK Forced release from Receiving WAITING state for a data queue as a result of issuing rel_wai E_RLWAI irel_wai Time specified by tmout has elapsed timeout E_TMOUT Remarks 1 Tasks are queued in the data wait queue in the order in which data reception requests were made 2 Ifthe receiving WAITING state for a data queue is forcibly released by issuing rel_wai irel_wai or the time specified by tmout has elapsed timeout the contents of the area specified by p_data will be undefined 3 If tmoutis specified as TMO_FEVR then the processing is equivalent to rev_dtq If it is specified as TMO_POL then the processing is equivalent to prcv_ditq iprcv_diq R20UT0519EJ0100 Rev 1 00 2tENESAS Page 117 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_ PAR 17 p_data or tmout is invalid p_data 0 tmout lt TMO_FEVR E ID 18 dtqid is invalid ID is not defined in Data queue information E CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching di
97. e has been stored bit 2 TA_PHS Activation phase stored 15 2 1 0 TA_HLNG 0 TA_ASM 1 TA_STA 1 TA_PHS 1 Remarks 1 Ifthe initial state of the cyclic handler is stopped O will be stored in bit 1 2 Ifthe activation phase storage flag of the cyclic handler is activation phase not stored then 0 will be stored in bit 2 R20UT0519EJ0100 Rev 1 00 ztENESAS Page 56 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS cyctim This stores the activation cycle in milliseconds of the cyclic handler cycphs This stores the activation phase in milliseconds of the cyclic handler peid This stores the PE number of the processor element to which the cyclic handler belongs R20UT0519EJ0100 Rev 1 00 2tENESAS Page 57 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 9 Message no priority T MSG Messages no priority are defined in the header file types h that is called from standard header file kernel h typedef struct struct t_msg t_msg msgque Reserved for future use Message body Details of messages no priority are described below msgque This area is reserved by the system The message body is stored here The structure data types and the like of the message body are specified between the sending and receiving pro grams R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 58 of 218 RI850MP
98. e is no definition for the use of this service call E_ID 18 tskid is invalid ID is not defined in Task information TSK_SELF specified when issued from non task E CTX 25 Context error Issued from CPU lock status E_ OBJ 41 Object status error Target task state is other than WAITING state or WAITING SUSPENDED state R20UT0519EJ0100 Rev 1 00 tENESAS Page 81 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Put task in SUSPENDED state Syntax ER sus_tsk ID tskid ER isus_tsk ID tskid Parameters I O Parameter Description ID tskid ID of task TSK_SELF Current task Numerical value ID of task Function This issues a forced wait request to the task specified by tskid and moves the task to SUSPENDED state or WAITING SUSPENDED state If the target task is SUSPENDED state or WAITING SUSPENDED state when this service call is issued this service call does not change the task s state and instead increments the forced wait request counter by adding 1 to it Remark _ If issuing this service call would cause the FORCED WAIT request nesting count to exceed 127 then the forced wait request is not performed and E_QOVR 43 is returned Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call EID 18 tskid
99. e mailbox attribute queuing method Only the following keywords can be specified as mbxatr Task queuing method TA_TFIFO Order in which message receipt requests were made TA_TPRI Order of task priority Message queuing method TA_MFIFO Order in which message send requests were made TA_MPRI Order of message priority Maximum priority maxmpri This specifies the maximum priority of messages that can be sent to the mailbox Values that can be specified for maxmpri are limited to 1 to 32 767 Remark In the RI850MP messages with lower priority numbers have higher priority System reserved area mprihd This area is reserved by the system Only 0 or NULL can be specified as mprihd R20UT0519EJ0100 Rev 1 00 2tENESAS Page 199 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 6 Mutex information The following items are defined as mutex information ID mtxid Attribute mtxatr System reserved area ceilpri 0 to 1 023 items can be specified as mutex information Below is the format for coding the mutex information CRE_MTX mtxid mtxatr ceilpri 1 ID mtxid This specifies the ID of the mutex Only names can be specified as mtxid Remark The correspondence between mtxid and numerical values is output to the system information header file in the following format define mtxid number 2 Attribute mtxatr This specifies the mutex attribute queuing method On
100. e range of the flgptn setting is limited to 0x0 to Oxffffffff R20UT0519EJ0100 Rev 1 00 2tENESAS Page 197 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 4 Data queue information The following items are defined as data queue information ID dtqid Attribute dtqatr Maximum data count dtqcnt Section name secnam System reserved area dtq 0 to 1 023 items can be specified as data queue information Below is the format for coding data queue information CRE_DTQ dtqid dtgatr dtqcnt secnam dtq 1 2 3 4 5 ID diqid This specifies the data queue ID Only names can be specified as dtqid Remark The correspondence between dtqid and numerical values is output to the system information header file in the following format define dtqid number Attribute dtqatr This specifies the data queue attribute queuing method Only the following keywords can be specified as dtqatr Task queuing method TA_TFIFO Order in which data send requests were made TA_TPRI Order of task priority Remark If the data cannot be received immediately when the task makes a data reception request the task is added to the data queue s wait queue in the order that the data reception request was made Maximum data count diqcent This specifies the maximum number of data elements that can be written to the buffer area of the data queue Values that can be
101. el Initial ization Module or it was modified via issuance of set_tim iset_tim When a timer interrupt specified by Exception cause code tintno occurs it is updated by the value specified by Base clock cycle tbase R20UT0519EJ0100 Rev 1 00 2tENESAS Page 60 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 Service Call Reference This section describes the service calls provided by the RI850MP using the following format Figure 13 1 Description Format of Service Calls 4 1 Parameters VO Parameter Description 6 gt Return Value Macro Num Description 1 Name Indicates the name of the service call 2 Overview Outlines the functions of the service call 3 Syntax Indicates the format to be used when coding a service call to be issued in the C language R20UT0519EJ0100 Rev 1 00 ztENESAS Page 61 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 4 Parameters Indicates the parameters of the service call in the following format VO Parameter Description a b c VO Parameter type a l Input parameter O Output parameter Parameter Data type of parameter b lt c Description Description of the parameter 5 lt Function Explains the function of a service call 6 lt Return Value Ind
102. em is omitted the RI850MP handles the start address of the idle routine as follows VATT_IDL TA_HLNG _default_idlrtn R20UT0519EJ0100 Rev 1 00 2tENESAS Page 208 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 6 SCT Information The following item is defined as information relating to flags for using service calls provided by the RI850MP Service call name svc_nam 0 to 69 items can be defined as SCT information The format for coding SCT information is as follows DEF_SCT svc_nam 1 Service call name svc_nam This specifies the name of the service call to use in the processing program Only the following keywords can be specified as svc_nam Task management functions act_tsk iact_tsk can_act ican_act ext_tsk ter_tsk chg_pri ichg_pri get_pri iget_pri ref_tsk iref_tsk Task dependent synchronization functions slp_tsk tslp_tsk wup_tsk iwup_tsk can_wup ican_wup rel_wai irel_wai sus_tsk isus_tsk rsm_tsk irsm_tsk frsm_tsk ifrsm_tsk dly_tsk Synchronization and communication functions semaphores sig_sem isig_sem wai_sem pol_sem ipol_sem twai_sem ref_sem iref_sem Synchronization and communication functions eventflags set_flg iset_flg clr_flg iclr_flg wai_flg pol_flg ipol_flg twai_flg ref_flg iref_flg Synchronization and communication functions data queues snd_dtq psnd_dtq ipsnd_dtq tsnd_dtq fsnd_dtq ifsnd_dtq rcv_
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105. es the start address of the cyclic handler The value of cychdr must be between 0x0 and OxFFFFFFFE aligned to a 2 byte boundary or a symbol name R20UT0519EJ0100 Rev 1 00 ztENESAS Page 203 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE 5 Cycle start cyctim This specifies the startup interval of the cyclic handler in milliseconds Only 0x1 to OxX7FFFFFFF can be specified as cyctim 6 Activation phase cycphs This specifies the initial startup phase of the cyclic handler in milliseconds Only 0x1 to OX7FFFFFFF can be specified as cycphs R20UT0519EJ0100 Rev 1 00 2tENESAS Page 204 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 9 Interrupt handler information The following items are defined as interrupt handler information Exception cause code inhno Attribute inhatr Startup address inthdr 0 to 1 items per PE can be defined as interrupt handler information for each exception cause The format for coding interrupt handler information is shown below DEF_INH inhno inhatr inthdr 1 Exception cause code inhno This specifies the exception cause code corresponding to the interrupt that triggers the activation of the interrupt handler Values that can be specified for inhno are limited to 16 byte boundary value past 0x90 corresponding to the inter rupt or exception cause name Remarks 1 Itis not possible to assign an exception cause
106. et dependent module for storing the CPU interrupt mask pattern the value of interrupt control register ElCn or interrupt mask flag EIMKn of the interrupt mask register IMRm into the area specified by the parameter of this user own function It is called when the service call loc_cpu or iloc_cpu is issued from the processing program Basic format Code an interrupt mask acquisition routine as a void type function that has one VP type argument function name _kernel_usr_get_intmsk The argument p_intms contains a pointer to an area where the acquired interrupt mask pattern is to be stored The following shows the basic format of an interrupt mask acquisition routine coded in C include lt kernel h gt void kernel_usr_get_intmsk VP p_intms 9 2 3 Interrupt mask overwrite routine This is a routine dedicated to interrupt mask pattern writing It is extracted in a target dependent module for storing the interrupt mask pattern specified by the parameter of this user own function into the CPU interrupt mask pattern the value of interrupt control register ElCn or interrupt mask flag EIMKn of the interrupt mask register IMR It is called when the service call unl_cpu or iun _cpu is issued from the processing program Basic format Code an interrupt mask overwrite routine as a void type function that has one VP type argument function name _kernel_usr_set_intmsk The argument p_intms contains a pointer to an area where the
107. euing method specified by Attribute mpfatr order in which acquire fixed size memory block requests were made or order of task priority 2 Ifthe WAITING state for a fixed size memory block is forcibly released by issuing rel_wai irel_wai or the time specified by tmout has elapsed timeout the contents of the area specified by p_b k will be undefined 3 If tmoutis specified as TMO_FEVR then the processing is equivalent to get_mpf If it is specified as TMO_POL then the processing is equivalent to pget_mpf ipget_mpf R20UT0519EJ0100 Rev 1 00 2tENESAS Page 145 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 p_blk or tmout is invalid p_blk 0 tmout lt TMO_FEVR E_ID 18 mpfid is invalid ID is not identified in Fixed sized memory pool information E_ CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_RLWAI 49 Forced cancellation of WAITING state for a fixed size memory block Issuance of rel_wai irel_wai E_TMOUT 50 Timeout Time specified by tmout has elapsed timeout R20UT0519EJ0100 Rev 1 00 2tENESAS Page 146 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS rel_mpf
108. ev 1 00 2tENESAS Page 119 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description E_ID 18 dtqid is invalid ID is not defined in Data queue information E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 120 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 6 Synchronization and communication functions mailboxes Below is a list of the service calls provided by the RI850MP as synchronization and communication functions mail boxes Table 13 16 Synchronization and Communication Functions Mailboxes Service Call Function Overview snd_mbx isnd_mbx Send to a mailbox rcv_mbx Receive from a mailbox prcv_mbx iprcv_mbx Receive from a mailbox polling trev_mbx Receive from a mailbox with timeout ref_mbx iref_mbx Reference mailbox information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 121 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS snd_mbx isnd_mbx Overview Send to a mailbox Syntax ER snd_mbx ID mbxid T_MSG pk_msg j ER isnd_mbx ID mbxid T_MSG pk_msg Parameters Parameter Description le T_MSG pk_msg Pointer to area in which message is stored Message No Priority T_MSG typedef struct t_msg struct t_msg msgque Reserved for future use eile facton taster eh
109. fines the following information as the declarative information Header file declaration The following illustrates how the declarative information is written INCLUDE h_file Header file declaration B 2 1 Header file declaration Defines the following item as the header file declaration Header file name h_file The number of definitions for header file declaration is not restricted The following shows the header file declaration format INCLUDE h_file 1 Header file name h_file Specify the header file name output to the system information header file Values that can be specified for h_file are limited to names Remarks 1 If INCLUDE lt itron h gt is specified the following header file definition include processing is output to the system information header file include lt itron h gt 2 If INCLUDE lt itron h gt is specified the following header file definition include processing is output to the system information header file include Ttroen A 3 Search folder for h_file is the folder specified in the configurator activation option lA lt include_path gt R20UT0519EJ0100 Rev 1 00 2tENESAS Page 183 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 3 System Information Defines the following information as the system information Rl series information Base clock cycle information Timer interrupt i
110. g routine provided for initializing the minimum required hardware for the RI850MP to perform processing It is called from PE specific boot processing The following processing is executed in the kernel initialization module Floating decimal point settings Status register initialization System time initialization Task creation and activation Semaphore creation Eventtflag creation Data queue creation Mailbox creation Mutex creation Fixed sized memory pool creation Cyclic handler registration and activation Interrupt handler registration CPU exception handler registration Initialization routine registration Idle routine registration Initialization routine calling Scheduler activation Remark The kernel initialization module is included in system initialization processing provided by the RI850MP The user is therefore not required to code the kernel initialization module 12 4 Initialization Routine The initialization routine is a routine dedicated to initialization processing that is extracted as a user own coding module to initialize hardware and software that depends on the user execution environment It is called from the Kernel Initializa tion Module Remark For details about the initialization routine refer to 10 4 Initialization Routine R20UT0519EJ0100 Rev 1 00 ztENESAS Page 39 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS CHAPTER 13 SERVICE CALLS This
111. g task in the semaphore wait queue and moves it from the RUNNING state to WAITING state for a semaphore resource The WAITING state for a semaphore resource is cancelled in the following cases and then moved to the READY state Cancellation of WAITING State for a Semaphore Resource Return Value The resource was returned to the target semaphore as a result of issuing sig_sem isig_sem E OK Forced release from WAITING state for a semaphore resource as a result of issuing rel_wai E_RLWAI irel_wai Remark The queuing order of tasks in the semaphore wait queue is determined by the queuing method specified by Attribute sematr order in which resource requests were made or order of task priority Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E ID 18 semid is invalid ID is not identified in Semaphore information E_ CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 89 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Description E_RLWAI 49 Forced cancellation of WAITING state for a semaphore resource Issuance of rel_wai irel_ wai R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2
112. gpri Priority PE E Message body T_MSG_PRI Function Receive a message from the mailbox specified by mbxid and store the start address of the message to the area spec ified by ppk_msg If no message could be received from the target mailbox no messages were queued to the wait queue when this ser vice call is issued this service queues the invoking task to the target mailbox wait queue and moves it from RUNNING state to WAITING state for a mailbox The WAITING state for a mailbox is cancelled in the following cases and then moved to the READY state R20UT0519EJ0100 Rev 1 00 ztENESAS Page 128 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Cancellation of WAITING State for a Mailbox Return Value A message was transmitted to the target mailbox as a result of issuing snd_mbx isnd_mbx E OK Forced release from WAITING state for a mailbox as a result of issuing rel_wai irel_wai E_ RLWAI Time specified by tmout has elapsed timeout E_TMOUT Remarks 1 Return Value Tasks are queued in the mailbox wait queue according to the queuing method specified by Attribute mbxatr order in which message receipt requests were made or order of task priority If the WAITING state for a mailbox is forcibly released by issuing rel_wai irel_wai or the time specified by tmout has elapsed timeout the contents of the area specified by parameter ppk_msg will be unde fined
113. h the CPU forcibly passes control when a CPU exception occurs However when a CPU exception entry routine is defined with CPU exception handler information corresponding to an exception code the CPU exception entry is included in the entry file created by executing the configurator If customization of CPU exception entry processing is unnecessary use of the relevant entry file therefore makes cod ing of CPU exception entry processing unnecessary Basic format When coding a CPU exception entry routine assign instructions to branch to preprocessing code for a handler address to which the CPU forcibly passes control when a CPU exception occurs The following shows the basic format of a CPU exception entry routine in assembly CX version excno cseg text excno Exception name jr __kernel_int_entry Branch to interrupt preprocessing CCV850E version Ord exchdr exchdr Activation address JE __kernel_int_entry Branch to interrupt preprocessing R20UT0519EJ0100 Rev 1 00 CENESAS Page 30 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 10 SYSTEM CONFIGURATION MANAGEMENT 10 3 CPU Exception Handlers A CPU exception handler is a routine dedicated to handling a CPU exception which is called when a CPU exception occurs The RI850MP handles a CPU exception handler as a non task separately from tasks Therefore even if a task with the highest priority in the system is being executed the pro
114. handler 45 13 2 9 Other constants 46 13 2 10 Conditional compilation macros 46 13 3 Data Structures 47 13 3 1 Task information T_RTSK 47 13 3 2 Semaphore information T_RSEM 50 13 3 3 Eventflag information T_RFLG 51 13 3 4 Data queue information T_RDTQ 52 13 3 5 Mailbox information T_RMBX 53 13 3 6 Mutex information T_RMTX 54 13 3 7 Fixed sized memory pool information T_RMPF 55 13 3 8 Cyclic handler information T_RCYC 56 13 3 9 Message no priority T MSG 58 13 3 10 Message with priority T MSG_PRI 59 13 3 11 System time SYSTIM 60 13 4 Service Call Reference 61 13 4 1 Task management functions 63 13 4 2 Task dependent synchronization functions 75 13 4 3 Synchronization and communication functions semaphores 87 13 4 4 Synchronization and communication functions eventflags 96 13 4 5 Synchronization and communication functions data queues 107 13 4 6 Synchronization and communication functions mailboxes 121 13 4 7 Extended synchronization and communication functions 132 13 4 8 Memory pool management functions 141 13 4 9 Time management functions 150 13 4 10 System state management functions 158 13 4 11 Interrupt management functions 171 APPENDIX A CONFIGURATOR 177 A 1 Outline 177 A 2 Activation Method 177 A 2 1 Activating from command line 177 A 2 2 Activating from CubeSuite 179 A 3 Command File 179 APP
115. he SCT Information there is no definition for the use of this service call E_ID 18 mixid is invalid ID is not defined in Mutex information E_ CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status R20UT0519EJ0100 Rev 1 00 2tENESAS Page 133 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description E_ILUSE 28 Invalid service call use Issued for a mutex that this task has already acquired E_RLWAI 49 Forced cancellation of WAITING state for a mutex Issuance of rel_wai irel_wa R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 134 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Acquire mutex polling Syntax ER ploc_mtx ID mtxid j Parameters I O Parameter Description l ID mtxid ID of mutex Function This service call acquires the mutex specified by mtxid If the target mutex cannot be acquired another task already acquired it when this service call is issued E_TMOUT 50 is returned Return Value Macro Num Description E_OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_ID 18 mixid is invalid ID is not defined in Mutex information E_ CTX 25 Context error Issued from
116. he SUSPENDED state when the WAITING state is cancelled or enters the WAITING state when the SUSPENDED state is cancelled R20UT0519EJ0100 Rev 1 00 Apr 01 2011 ztENESAS Page 14 of 218 RI850MP Ver 1 00 00 CHAPTER 2 TASK MANAGEMENT FUNCTIONS 2 2 2 Task priorities A priority level that determines the order in which that task will be processed in relation to other tasks is assigned to each task As a result on the RI850MP the task that has the highest priority level of all the tasks that have entered an executable state RUNNING state or READY state is selected and given the right to use the CPU On the RI850MP the following two types of priorities are used for management purposes Initial priority This is a value defined by using the static API CRE_TSK in the system configuration file Current priority This is the priority of a task that has been activated to which the RI850MP refers when executing various opera tions Remarks 1 On the RI850MP a task having a smaller priority number is given a higher priority 2 The range of priorities that can be used on the system is the range of values defined by using the static API MAX_PRI in the system configuration file For details about the static API MAX_PRI refer to B 3 5 Maximum priority information 2 2 3 Basic format of tasks When coding a task code it as a void function with one VP_INT argument The argument exinf contains extended information specified wi
117. his service call R20UT0519EJ0100 Rev 1 00 tENESAS Page 164 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Transition to dispatching disabled state Syntax ER dis_dsp void Parameters None Function This service call moves the system status type to the dispatch disabled state As a result task switching by the dispatcher is disabled from the time this service call is issued until ena_dsp is issued Remarks 1 Dispatch disabled state transition via this service call is defined as follows Dispatcher execution is prevented 2 This service call does not perform queuing of disable requests As a result if the system status type cannot be changed when this service call is issued the system status type was already dispatch dis abled state then no actions will be performed and it will also not be treated as an error 3 Service calls issued when dispatching is disabled e g act_tsk chg_pri and wup_tsk only perform queue operations counter operations and other processing Actual task switching is delayed until ena_dsp is issued 4 Ifa service call that could cause the invoking task s state to change e g slp_tsk wai_sem and wai_flg while dispatching is disabled the RI850MP will return E_CTX 25 regardless of the request conditions are instantly met Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function
118. icates a service call s return value using the following format Macro Num Description a c Macro Macro return value a Num Macro definition value b c Description Description of return value R20UT0519EJ0100 Rev 1 00 Apr 01 2011 ztENESAS Page 62 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 1 Task management functions The following shows the service calls provided by the RI850MP as task management functions Table 13 11 Task Management Functions Service Call Function Overview act_tsk iact_tsk Activate task can_act ican_act Cancel activation request ext_tsk End this task ter_tsk Forcibly terminate task chg_pri ichg_pri Change the current priority get_pri iget_pri Get the current priority ref_tsk iref_tsk Get task information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 63 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Activate task Syntax ER act_tsk ID tskid ER iact_tsk ID tskid Parameters 1 0 Parameter Description l ID tskid ID of task TSK_SELF Current task Numerical value ID of task Function This issues an activation request to the task specified by tskid and moves the task from DORMANT state to READY state If the target task is in a state other than the DORMANT state when this service call is issued this service cal
119. ice call acquires the context type of the processing program that issued this service call non task context or task context and returns it as the return value Remark For the purposes of this service call a non task context processing program is defined as one of the follow ing Cyclic handlers Interrupt handlers CPU exception handlers Initialization routine Return Value Macro Num Description TRUE 1 Normal termination Non task context FALSE 0 Normal termination Task context E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call R20UT0519EJ0100 Rev 1 00 ztENESAS Page 167 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Get system state type CPU locked state or CPU unlocked state Syntax BOOL sns_loc void Parameters None Function This service call acquires the system status type as of the time it is issued CPU locked state or non CPU locked state and returns it as the return value Remark CPU locked state transition via issuance of loc_cpu iloc_cpu is defined as follows Dispatcher execution is prevented Acceptance of maskable interrupts is disabled Return Value Macro Num Description TRUE 1 Normal termination CPU locked state FALSE 0 Normal termination CPU unlocked state E_NOSPT 9 Unsupported function
120. ies the name of a file output from the configurator service call table file name If this activation option is not specified processing is carried out as if cAsct c had been speci fied ni Disables output of the system information table file If this activation option is specified together with the iA lt sitfile gt option the configurator handles this activation option as the valid option ne Disables output of the entry file If this activation option is specified together with the eA lt entryfile gt option the configurator han dles this activation option as the valid option nd Disables output of the system information header file If this activation option is specified together with the dA lt includefile gt option the configurator handles this activation option as the valid option nc Disables output of the service call table file If this activation option is specified together with the cA lt sctfile gt option the configurator han dles this activation option as the valid option tA lt toob Specifies the type of the C compiler package used The only keywords that can be specified as lt too are CX and CCV850E If this activation option is not specified processing is carried out as if tACX had been specified TA lt compiler_path gt Searches for the C preprocessor of the C compiler package specified with the tA lt toof option from the lt compiler_path gt folder If this activation op
121. ime management functions of the RI850MP utilize timer interrupts that occur at constant intervals These functions are provided to enable time dependent processing Remark For details about service calls provided by the RI850MP for time management refer to 13 4 9 Time man agement functions 7 2 Timer Interrupts The time management functions of the RI850MP utilize timer interrupts that occur at constant intervals to enable time dependent processing such as updating of the system time task timeouts and activation of cyclic handlers 7 2 1 Registration of timer interrupts The RI850MP supports only static registration of timer interrupts Therefore timer interrupts cannot be registered dynamically by issuing a service call from a processing program Static timer interrupt registration means defining of timer interrupt information by using the static APIs DEF_TIM and CLK_INTNO in the system configuration file Remarks 1 For details about the static API DEF_TIM refer to B 3 2 Base clock cycle information 2 For details about the static API CLK_INTNO refer to B 3 3 Timer interrupt information 7 3 Cyclic Handler A cyclic handler is a routine dedicated to cyclic processing that is activated periodically at a constant interval activation cycle The RI850MP handles cyclic handlers as non tasks separately from tasks Therefore even if the task with the high est priority in the system is currently being executed the proce
122. ing item as the information related to timer interrupts required for realizing the time management functions system time update task timeout cyclic handler activation etc provided by the RI850MP Base clock cycle tbase The number of items that can be defined as base clock cycle information is defined as being within the range of 0 to 1 The following shows the basic clock cycle information format DEF_TIM tbase 1 Base clock cycle tbase Specifies the occurrence interval of base clock timer interrupts in millisecond Values that can be specified for tbase are limited to 1 to 65535 Remark If the definition of this item is omitted the RI850MP handles the occurrence interval of base clock timer interrupts as follows DEF_TIM 1 R20UT0519EJ0100 Rev 1 00 2tENESAS Page 185 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 3 3 Timer interrupt information Defines the following item as the information related to timer interrupts required for realizing the time management functions system time update task timeout cyclic handler activation etc provided by the RI850MP Exception cause code tintno Only one information item can be defined as timer interrupt information The following shows the timer interrupt information format CLK_INTNO tintno 1 Exception cause code tintno Specifies the exception cause code for a timer interrupt Values that can be s
123. interrupt mask pattern to be set is stored The following shows the basic format of an interrupt mask overwrite routine coded in C include lt kernel h gt void kernel_usr_set_intmsk VP p_intms R20UT0519EJ0100 Rev 1 00 2tENESAS Page 26 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 9 INTERRUPT MANAGEMENT FUNCTIONS 9 2 4 Disable interrupt routine This is a routine dedicated to disabling maskable interrupts It is extracted in a target dependent module for changing the acknowledgment status of a specified maskable interrupt from enabled to disabled It is called when the service call dis_int is issued from the processing program Basic format Code a disable interrupt routine as a void type function that has one INTNO type argument function name _kernel_usr_dis_ int The argument intno contains the exception code that corresponds to the maskable interrupt for which acknowledg ment is to be disabled The following shows the basic format of a disable interrupt routine coded in C include lt kernel h gt void kernel_usr_set_dis_int INTINO intno 9 2 5 Enable interrupt routine This is a routine dedicated to enabling maskable interrupts It is extracted in a target dependent module for changing the acknowledgment status of a specified maskable interrupt from disabled to enabled It is called when the service call ena_int is issued from the processing program Basic format Code an e
124. is not released and instead it is passed to the relevant task first task of wait queue This removes the target task from the wait queue and changes its status from WAITING state for a semaphore resource to READY or from WAITING SUSPENDED state to SUSPENDED state Remark If the number of resources issued by this service call exceeds Maximum resource count maxsem then the resource will not be released and E_QOVR 43 will be returned Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E ID 18 semid is invalid ID is not identified in Semaphore information E CTX 25 Context error Issued from CPU lock status E_QOVR 43 Queuing overflow Number of resources exceeds Maximum resource count maxsem R20UT0519EJ0100 Rev 1 00 ztENESAS Page 88 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Acquire semaphore resource Syntax ER wai_sem ID semid Parameters I O Parameter Description l ID semid ID of semaphore Function This service call acquires a resource from the semaphore specified by semid subtracts 1 from the semaphore counter If the target semaphore resource cannot be acquired the count is already 0 when this service call is issued this ser vice call queues the invokin
125. issu E_OK ing rel_mpf irel_mpf The WAITING state for fixed size memory block acquisition was forcibly released as a result of E_RLWAI issuing rel_wai irel_mpf Remarks 1 The queuing order of tasks in the fixed sized memory pool wait queue is determined by the queuing method specified by Attribute mpfatr order in which acquire fixed size memory block requests were made or order of task priority 2 Ifthe receiving WAITING state for fixed size memory block acquisition is forcibly released by issuing rel_wai irel_wai the contents of the area specified by p_ bik will be undefined Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 p_bik is invalid p_blk 0 R20UT0519EJ0100 Rev 1 00 tENESAS Page 142 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description EID 18 mpfid is invalid ID is not identified in Fixed sized memory pool information E_ CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_ RLWAI 49 Forced cancellation of WAITING state for a fixed size memory block Issuance of rel_wai irel_wai R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 143 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVIC
126. k state transition Issuance of an instruction for returning from a non task cyclic handler interrupt handler etc Occurrence of a timer interrupt used to implement time management functions 11 3 Scheduling Methods As task scheduling methods the RI850MP employs the priority level method which uses the priority level current pri ority defined for each task and the FCFS method which uses the time elapsed from the point when a task becomes sub ject to RI850MP scheduling Priority level method The task that has the highest priority level current priority of all the tasks that have entered an executable state RUNNING state or READY state is selected and given the right to use the CPU FCFS method On a first come first served FCFS basis the task for which the longest interval of time has elapsed since it entered an executable state is selected as the task to which the right to use the CPU is granted FCFS task scheduling is executed when multiple tasks with the highest priority level current priority according to the selection criteria of the priority level method exist simultaneously R20UT0519EJ0100 Rev 1 00 2tENESAS Page 33 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 11 SCHEDULER 11 4 Ready Queue The RI850MP uses a ready queue to implement task scheduling The RI850MP ready queue is a hash table that uses priority as the key The management blocks of tasks that have entered an executable state REA
127. l does not change the task s state and instead increments the activation request counter by adding 1 to the activation request counter Remarks 1 Tasks moved to READY state are placed on the end of the ready queue corresponding to Initial priority itskpri 2 If issuing this service call would cause the activation request nesting count to exceed 127 then the activation request is not performed and E_QOVR 43 is returned Return Value Macro Num Description E_OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call EID 18 tskid is invalid ID is not defined in Task information TSK_SELF specified when issued from non task E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 64 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Description E_QOVR 43 Queuing overflow The activation request nesting count exceeds the maximum activation request nesting level of 127 R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 65 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS can_act ican_act Overview Cancel activation request Syntax ER_UINT can_act ID tskid ER_UINT ican_act ID tskid Parameters 1 0 Parameter Description
128. language TA_ASM Assembly language Extended information exinf This specifies extended information for the initialization routine The value of exinf must be between 0x0 and Oxffffffff or a symbol name Remark When the initialization routine is called from Kernel Initialization Module the extended information is set in the initialization routine as a parameter Startup address inirtn Specifies the start address for an initialization routine The value of inirtn must be between 0x0 and OxFFFFFFFE aligned to a 2 byte boundary or a symbol name R20UT0519EJ0100 Rev 1 00 2tENESAS Page 207 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 12 Idle routine information The following items are defined as idle routine information Attribute idlatr Startup address idlrtn 0 to 1 items per PE can be defined as idle routine information The format for coding idle routine information is as follows VATT_IDL idlatr idlrtn 1 Attribute idlatr This specifies the attribute of the idle routine language it is coded in Only the following keywords can be specified as idlatr Language in which idle routine is coded TA_HLNG C language TA_ASM Assembly language 2 Startup address idirtn This specifies the start address of the idle routine The value of id rtn must be between 0x0 and OxFFFFFFFE aligned to a 2 byte boundary or a symbol name Remark If the definition of this it
129. ler information The format for coding cyclic handler information is shown below CRE_CYC cycid cycatr exinf cychdr cyctim cycphs j 1 2 3 4 ID cycid This specifies the ID of the cyclic handler Only names can be specified as cycid Remark The correspondence between cycid and numerical values is output to the system information header file in the following format define cycid number Attribute cycair This specifies the cyclic handler attributes language used initial state and storage flag Only the following keywords can be specified as cycatr Language in which cyclic handler is coded TA_HLNG C language TA_ASM Assembly language Initial state of cyclic handler optional TA_STA Operating state Whether activation phase has been stored optional TA_PHS Activation phase stored Remarks 1 If the specification of TA_STA is omitted then the initial cyclic handler state will be non operational state 2 Ifthe specification of TA_PHS is omitted then the activation phase storage flag will be Do not store activation phase Extended information exinf This specifies extended information for the cyclic handler The value of exinf must be between 0x0 and Oxffffffff or a symbol name Remark When acyclic handler transitions from non operational state to operating state the extended informa tion is set in the cyclic handler as a parameter Startup address cychdr This specifi
130. lock pget_mpf ipget_mpf Acquire fixed sized memory block polling tget_mpf Acquire fixed sized memory block with timeout rel_mpf irel_mpf Release fixed sized memory block ref_mpf iref_mpf Reference fixed sized memory pool information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 141 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Acquire fixed sized memory block Syntax ER get_mpf ID mpfid VP p_blk Parameters I O Parameter Description l ID mpfid ID of fixed sized memory pool O VP p blk Pointer to area storing start address of fixed size memory block Function This service call acquires the fixed sized memory block from the fixed sized memory pool specified by mpfid and stores the start address of the block in the area specified by p_bik If no fixed size memory blocks could be acquired from the target fixed size memory pool the number of remaining blocks was already 0 when this service call is issued this service queues the invoking task to the fixed size memory pool wait queue and moves it from the RUNNING state to the WAITING state for a fixed size memory block The WAITING state for a fixed sized memory block is cancelled in the following cases and then moved to the READY state Cancellation of WAITING State for a Fixed sized Memory Block Return Value A fixed sized memory block was returned to the target fixed sized memory pool as a result of
131. logic circuits microcontrollers C language and assemblers To understand the hardware functions of the V850 microcontroller Refer to the User s Manual of each product Data significance Higher digits on the left and lower digits on the right Note Footnote for item marked with Note in the text Caution Information requiring particular attention Remark Supplementary information Numerical representation Binary XXXX or XXXXB Decimal XXXX Hexadecimal OxXXXX Prefixes indicating power of 2 address space and memory capacity K kilo 2 1024 M mega 2 1024 Related Documents Refer to the documents listed below when using this manual The related documents indicated in this publication may include preliminary versions However preliminary versions are not marked as such Documents related to development tools User s Manuals RI Series RI78v4 RIB50V4 CubeSuite Integrated Development Environment Caution The related documents listed above are subject to change without notice Be sure to use the latest edition of each document when designing All trademarks or registered trademarks in this document are the property of their respective owners MEMO MEMO MEMO TABLE OF CONTENTS CHAPTER 1 GENERAL 12 1 1 Outline 12 CHAPTER 2 TASK MANAGEMENT FUNCTIONS 13 2 1 Outline 13 2 2 Tasks 13 2 2 1 Task states 13 2 2 2 Task priorities 15 2 2 3 Basic format of tasks
132. ls about messages no priority and messages with priority Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 pk_msg or msgpri is invalid pk_msg 0 msgpri lt 0 msgpri gt Maximum priority maxmpri E ID 18 mbxid is invalid ID is not identified in Mailbox information E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 tENESAS Page 123 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS rcv_mbx Overview Receive from a mailbox Syntax ER rcev_mbx ID mbxid T_MSG ppk_msq Parameters I O Parameter Description l ID mbxid ID of mailbox O T_MSG ppk_msg Start address of the message packet received from the mailbox Message No Priority T_MSG typedef struct t_msg struct t_msg msgque Reserved for future use Sa n E Message body Message with Priority T_MSG_PRI typedef struct t_msg_pri T_MSG msgque Reserved for future use PRI msgpri Priority PE Message body T_MSG_PRI Function Receive a message from the mailbox specified by mbxid and store the start address of the message to the area spec ified by ppk_msg If no message could be received from the target mailbox no messages were queued to the wait queue when thi
133. ly the following keywords can be specified as mtxatr Task queuing method TA_TFIFO Order in which mutex acquisition was requested TA_TPRI Order of task priority 3 System reserved area ceilpri This area is reserved by the system Only 0 or NULL can be specified as ceilpri R20UT0519EJ0100 Rev 1 00 RENESAS Apr 01 2011 Page 200 of 218 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 7 Fixed sized memory pool information The following items are defined as fixed size memory pool information ID mpfid Attribute mpfatr Block count blkcent Block size blksz Section name secnam System reserved area mpf 0 to 1023 resources can be specified as fixed size memory pool information Below is the format for coding fixed sized memory pool information CRE_MPF mpfid mpfatr blkcnt blksz secnam mpf 1 2 3 4 5 ID mpfid This specifies the ID of the fixed size memory pool Only names can be specified as mpfid Remark The correspondence between mpfid and numerical values is output to the system information header file in the following format define mpfid number Attribute mpfatr This specifies the fixed sized memory pool attribute queuing method Only the following keywords can be specified as mpfatr Task queuing method TA_TFIFO Order in which fixed size memory block acquisition was requested TA_TPRI Order of task priority Block co
134. n ER iset_flg ID flgid FLGPTN setptn Parameters Parameter Description Function This performs a logical OR on the current bit pattern specified by flgid and the bit pattern specified by setptn and sets the results as the current bit pattern of the target eventflag If the required condition of the task queued to the target eventflag wait queue is satisfied when this service call is issued then after the bit pattern is set the target task will be removed from the wait queue This changes the state of the target task from WAITING state for an eventflag to READY state or from WAITING SUSPENDED state to SUSPENDED state Remarks 1 If the current bit pattern of the target eventflag is B1100 and the bit pattern specified by setptn is B1010 then B1110 will be set as the current bit pattern ID Flag_A BB dJ L set_flg Flag_A B1010 ID Flag_A Ce 2 Ifthe TA_WMUL attribute is set in the target eventflag maximum number of tasks that can be queued multiple tasks then whether the tasks is subject to the determination of whether the issuance of this service call met the request conditions depends on whether the 2 TA_CLR attribute clear method when request conditions are met clear bit pattern If the TA_CLR attribute has been assigned All tasks queued in the wait queue from the first task until the task satisfying the request conditions are subject to determination R20UT0519EJ0100 Rev
135. nable interrupt routine as a void type function that has one INTNO type argument function name _kernel_usr_ena_int The argument intno contains the exception code that corresponds to the maskable interrupt for which acknowledg ment is to be enabled The following shows the basic format of an enable interrupt routine coded in C include lt kernel h gt void kernel_usr_set_ena_int ININO intno R20UT0519EJ0100 Rev 1 00 2tENESAS Page 27 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 9 INTERRUPT MANAGEMENT FUNCTIONS 9 2 6 Interrupt entry routine This is a routine dedicated to entry processing It is extracted in a target dependent module for assignment of instruc tions to branch to interrupt preprocessing for a handler address to which the CPU forcibly passes control when an inter rupt occurs However when an interrupt entry routine is defined with Interrupt handler information corresponding to an exception code the interrupt entry is included in the entry file created by executing the configurator If customization of interrupt entry processing is unnecessary use of the relevant entry file therefore makes coding of interrupt entry processing unnecessary Basic format When coding an interrupt entry routine assign instructions to branch to preprocessing code for a handler address to which the CPU forcibly passes control when an interrupt occurs The following shows the basic format of an interrup
136. nformation System stack information Maximum priority information Floating point setting status register information Section information Processor element information The following illustrates how the system information is written RI_SERIES osnam osver RI series information DEF_TIM tbase Base clock interval information CLK_INTNO tintno Timer interrupt information SYS_STK sysstksz peno System stack information MAX_PRI maxtpri Maximum priority information DEF_FPSR fpsr Floating point setting status register information MEM_AREA secnam secszZ Section information DOMAIN_ALLOCATION domnam peno Processor element information B 3 1 RI series information Defines the following item as the information about real time OS Real time OS name osnam Version information osver Only one information item can be defined as RI series information The following shows the RI series information format RI_SERIES osnam osver 1 Real time OS name osnam Specifies the real time OS name RI850MP is the only name that can be specified for osnam 2 Version information osver Specifies the version number of real time OS Values that can be specified for osver are limited to V100 to V199 R20UT0519EJ0100 Rev 1 00 2tENESAS Page 184 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 3 2 Base clock cycle information This defines the follow
137. ng module to utilize the standby function provided by the CPU to enable low power consumption systems It is called from the scheduler when there is no longer any task subject to scheduling by the RI850MP remaining in the system R20UT0519EJ0100 Rev 1 00 2tENESAS Page 34 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 11 SCHEDULER 11 6 1 Basic format of idle routine Code the idle routine as a void type function that has no arguments The following shows the basic format of an idle routine coded in C include lt kernel h gt void idlrtn void 11 6 2 Idle routine registration The RI850MP supports only static registration of idle routines Therefore an idle routine cannot be registered dynami cally by issuing a service call from a processing program Static idle routine registration means defining of an idle routine by using the static API VATT_IDL in the system config uration file Remark For details about the static API VATT_IDL refer to B 5 12 Idle routine information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 35 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 12 SYSTEM INITIALIZATION ROUTINE CHAPTER 12 SYSTEM INITIALIZATION ROUTINE This chapter describes the system initialization routine provided by the RI850MP 12 1 Outline The system initialization routine of the RI850MP provides initialization of the hardware and software resources required for processing by the RI850MP from the time
138. nput to the configurator command file name If this activation option is not specified the configurator does not load the command file For details about the command file refer to A 3 Command File cpuA lt name gt Specifies the type specification name of the target device The keyword that can be specified as lt name gt is the device file name minus the initial character D and the extension 800 When the device file name is DF3507 800 the keyword specified in lt name gt is F3507 R20UT0519EJ0100 Rev 1 00 ztENESAS Page 177 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX A CONFIGURATOR Activation Options Meaning iA lt sitfile gt Specifies the name of a file output from the configurator system information table file name If this activation option is not specified processing is carried out as if iAsit c had been speci fied eA lt entryfile gt Specify the name of a file output from the configurator entry file name If this activation option is not specified processing is carried out as if eAentry s had been spec ified CX version or as if eAentry 850 had been specified CCV850E version dA lt includefile gt Specifies the name of a file output from the configurator system information header file name If this activation option is not specified processing is carried out as if dAkernel_id h had been specified cA lt sctfile gt Specif
139. ns equipment test and measurement equipment audio and visual equipment home electronic appliances machine tools personal electronic equipment and industrial robots High Quality Transportation equipment automobiles trains ships etc traffic control systems anti disaster systems anti crime systems safety equipment and medical equipment not specifically designed for life support Specific Aircraft aerospace equipment submersible repeaters nuclear reactor control systems medical equipment or systems for life support e g artificial life support devices or systems surgical implantations or healthcare intervention e g excision etc and any other applications or purposes that pose a direct threat to human life You should use the Renesas Electronics products described in this document within the range specified by Renesas Electronics especially with respect to the maximum rating operating supply voltage range movement power voltage range heat radiation characteristics installation and other product characteristics Renesas Electronics shall have no liability for malfunctions or damages arising out of the use of Renesas Electronics products beyond such specified ranges Although Renesas Electronics endeavors to improve the quality and reliability of its products semiconductor products have specific characteristics such as the occurrence of failure at a certain rate and malfunctions under certain use conditions F
140. nterrupt which is a type of maskable interrupt as its time management function e g updating the system time task timeouts and activation of cyclic handlers As a result if the CPU is continuously in locked state for longer than the interval specified by Base clock cycle tbase the time management function may not operate correctly 5 The RI850MP only allows the following 8 service calls to be issued while in CPU locked state loc_cpu iloc_cpu unl_cpu iunl_cpu sns_ctx sns_loc sns_dsp sns_dpn 6 The internal processing of this service call Interrupt mask logical OR routine kernel_usr_msk_intmsk Interrupt mask acquisition routine _kernel_usr_get_intmsk is dependent on the user s execution environment For this reason the RI850MP separates this processing from the User own coding module and provides it as a sample source file See 9 2 1 Interrupt mask logical OR routine and 9 2 2 Interrupt mask acquisition routine for details about _kernel_usr_msk_intmsk and _kernel_usr_get_intmsk Return Value Macro Num Description E OK 0 Normal termination R20UT0519EJ0100 Rev 1 00 ztENESAS Page 162 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS P
141. nterrupt han dlers and CPU exception handlers for handler addresses to which the CPU forcibly passes control when a timer interrupt other interrupt or CPU exception occurs System information header file An information file that contains the correspondence between object names task names semaphore names or the like described in the system configuration file and IDs Service call table file An information file that contains information about use of the service calls provided by the RI850MP Remark NET Framework 2 0 is required to activate the configurator A 2 Activation Method A 2 1 Activating from command line The following describes how to activate the configurator from the command line In the description of activation options C gt indicates the command line prompt A indicates input with the Space key and lt Enter gt indicates input with the Enter key Options enclosed in can be abbreviated C gt c 850mp exe A lt cmd_file gt A cpuA lt name gt A devpath lt path gt A iA lt sitfile gt A eA lt entryfile gt A dA lt includefile gt A cA lt sctfile gt A ni A ne A nd A nc A tA lt tool gt A TA lt compiler_path gt A 1A lt include_path gt A np A cnvA lt cnvfile gt A v A help A lt cffile gt lt Enter gt The details of each activation option are explained below Activation Options Meaning lt cmd_file gt Specifies the name of a file i
142. ollows A process with higher priority than the dispatcher is running Dispatcher execution is prevented Acceptance of maskable interrupts is disabled Return Value Macro Num Description TRUE 1 Normal termination Dispatch hold state FALSE 0 Normal termination Non dispatch hold state E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call R20UT0519EJ0100 Rev 1 00 2tENESAS Page 170 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 11 Interrupt management functions The following shows the service calls provided by the RI850MP as interrupt management functions Table 13 21 Interrupt Management Functions Service Call Function Overview dis_int Disable maskable interrupt acknowledgement ena_int Enable maskable interrupt acknowledgement chg_ipm ichg_ipm Change priority mask register get_ipm iget_ipm Reference priority mask register R20UT0519EJ0100 Rev 1 00 2tENESAS Page 171 of 218 Apr 01 2011 RI850MP Ver 1 00 00 Overview Disable maskable interrupt acknowledgement Syntax ER dis_int INTNO intno Parameters V0 Parameter Description l INTNO intno Exception cause code Function This service call disables acknowledgment of maskable interrupts corresponding to the exception cause code specified by intno This will disabl
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144. on Mutex Information T_RMTX typedef struct t_rmtx ID htskid Existence of tasks to acquire ID wt skid Existence of waiting task ATR mtxatr Attribute PRI ceilpri Reserved for future use T_RMTX Function The service calls store the information for the mutex specified by mtxid e g existence of acquired tasks into the area specified by pk_rmtx Remark See 13 3 6 Mutex information T_RMTX for details about mutex information Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_ PAR 17 pk_rmtx is invalid pk_rmix 0 E_ID 18 mixid is invalid ID is not defined in Mutex information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 139 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Description E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 140 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 8 Memory pool management functions The following shows the service calls provided by the RI850MP as memory pool management functions Table 13 18 Memory Pool Management Functions Service Call Function Overview get_mpf Acquire fixed sized memory b
145. ority tskpri Priority tskpri t Priority tskpri maxtpri 2 This service call does not perform queuing of rotation requests If no tasks in the ready queue have the target priority then no action will be performed and it will not be handled as an error either R20UT0519EJ0100 Rev 1 00 ztENESAS Page 159 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_ PAR 17 tskpri is invalid tskpri lt 0 tskpri gt Maximum priority maxtpri TPRI_SELF specified when issued from non task E_ CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 2tENESAS Page 160 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS get_tid iget_tid Overview Get ID Syntax ER get_tid ID p_tskid ER iget_tid ID p_tskid j Parameters I O Parameter Description Function This acquires the ID of the task that has transitioned to RUNNING state and stores it in the area specified by p_tskid Remark If no task has gone to the RUNNING state TSK_NONE 0 will be stored in the area specified by p_tskid Return Value Macro Num Description E_OK 0 Normal termination
146. pecified for tintno are limited to 16 byte boundary value past 0x90 corresponding to timer inter rupt or exception cause code name Remarks 1 Itis not possible to assign an exception cause code specified by Exception cause code inhno or Exception cause code excno 2 Only exception cause code names prescribed in the device file can be specified in this item R20UT0519EJ0100 Rev 1 00 2tENESAS Page 186 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 3 4 System stack information Defines the following item as the system stack information to be allocated to each processor element by the RI850MP Stack size sysstksz PE number peno Only two information items can be defined as system stack information The following shows the system stack information format SYS_STK sysstksz peno 1 Stack size syssiksz Specifies the system stack size in bytes A value from 0x0 to 0x10000000 aligned to a 4 byte boundary can be specified for sysstksz 2 PE number peno This specifies the PE number of the processor element that allocates the system stack Values that can be specified for peno are limited to 1 to 2 Remark The system stack is allocated to the kernel_stack_pepeno section R20UT0519EJ0100 Rev 1 00 2tENESAS Page 187 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 3 5 Maximum priority information This defines the following item as task priority info
147. pf rel_mpf irel_mpf ref_mpf iref_mpf Time management functions set_tim iset_tim get_tim iget_tim sta_cyc ista_cyc stp_cyc istp_cyc ref_cyc iref_cyc System state management functions rot_rdq irot_rdq get_tid iget_tid loc_cpu iloc_cpu unl_cpu iunl_cpu dis_dsp ena_dsp sns_ctx sns_loc sns_dsp sns_dpn Interrupt management functions dis_int ena_int chg_ipm ichg_ipm get_ipm iget_ipm R20UT0519EJ0100 Rev 1 00 ztENESAS Page 40 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 1 1 Calling a service call The method for calling service calls from processing programs coded either in C or assembly language is described below Processing programs coded in the C language The service call s parameters are passed to the RI850MP using the same calling convention as an ordinary C function and the corresponding process is executed Processing programs coded in assembly language After setting the parameters and return address in accordance with the function calling convention of the C com piler package being used make the call via a jarl instruction to pass the service call parameters to the RI850MP and execute the corresponding process Remark To call the service calls provided by the RI8S50MP from a processing program the header files listed below must be coded include processing kernel h Standard header file kernel_id h System information header file R2
148. ption or exception cause name Remarks 1 Itis not possible to assign an exception cause code specified by Exception cause code tintno or Exception cause code inhno 2 Only exception cause code names prescribed in the device file can be specified in this item 2 Attribute excatr This specifies the CPU exception handler s attribute language it is coded in Only the following keywords can be specified as excaitr Language in which CPU exception handler is coded TA_HLNG C language TA_ASM Assembly language 3 Startup address exchdr Specifies the start address of the CPU exception handler The value of exchar must be between 0x0 and OxFFFFFFFE aligned to a 2 byte boundary or a symbol name R20UT0519EJ0100 Rev 1 00 ztENESAS Page 206 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 11 Initialization routine information The following items are defined as initialization routine information Attribute iniatr Extended information exinf Startup address inirtn 0 to 1 023 items can be defined as initialization routine information The format for coding initialization routine information is as follows ATT_INI iniatr exinf inirtn 1 2 3 Attribute iniatr This specifies the attribute of the initialization routine language it is coded in Only the following keywords can be specified as iniatr Language in which initialization routine is coded TA_HLNG C
149. rget eventflag does not satisfy the required condition when this service call is issued the invoking task is queued to the target eventflag wait queue after which the task transitions from the RUNNING state to the WAITING state WAITING state for an eventflag The WAITING state for an eventflag is cancelled in the following cases and then moved to the READY state Cancelation of WAITING State for an Eventflag Return Value A bit pattern that satisfies the required condition was set to the target eventflag as a result of issu E_OK ing set_flg iset_flg Forced release from WAITING state for an eventflag as a result of issuing rel_wai irel_wai E_RLWAI Time specified by tmout has elapsed timeout E_TMOUT Below are shown the wfmode request conditions which are the criteria for judging bit patterns TWF_ANDW Determine if all bits set to 1 in waiptn are set in the target eventflag R20UT0519EJ0100 Rev 1 00 Apr 01 2011 ztENESAS Page 104 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS TWF_ORW Determine Remarks 1 Return Value if any bits set to 1 in waiptn are set in the target eventtlag On the RI850MP if this service call is issued for the eventflag of the TA_WSGL attribute maximum number of tasks that can be queued 1 for tasks already queued in the wait queue a return value of E_ILUSE 28 will be returned regardless of whether the condition can be immedia
150. rmation Maximum priority maxtpri Only 0 1 items can be defined as maximum priority information The following shows the maximum priority information format MAX_PRI maxtpri 1 Maximum priority maxipri Specifies the range of task priority specified with Initial priority itskpri and chg_pri ichg_pri Values that can be specified for maxtpri are limited to 1 to 32 Remark If the definition of this item is omitted the RI850MP handles the maximum priority as follows MAX_PRI 32 R20UT0519EJ0100 Rev 1 00 2tENESAS Page 188 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 3 6 Floating point setting status register information The following item is defined as floating point setting status register FPSR information Floating point setting status register informationfpsr The number of items that can be defined as floating point setting status register information is defined as being within the range of 0 to 1 The format for coding the floating point setting status register information is as follows DEF_FPSR fpsr 1 Floating point setting status register informationfpsr This specifies the initial value of the floating point setting status register Note that the allowable range of the fpsr setting is limited to 0x0 to Oxffffffff Remark If the definition of this item is omitted the RI850MP handles the initial value of the floating point setting sta
151. rn of the eventflag specified by flgid meets the conditions of the request bit pattern specified by waiptn and the request conditions specified by wfmode If the bit pattern satisfied the requirements the current bit pattern in question is stored in the area specified by p_flgptn If the current bit pattern of the target eventflag does not satisfy the condition when this service call is issued E_ TMOUT 50 is returned Below are shown the wfmode request conditions which are the criteria for judging bit patterns TWF_ANDW Determine if all bits set to 1 in waiptn are set in the target eventflag TWF_ORW Determine if any bits set to 1 in waiptn are set in the target eventflag Remark On the RI850MP if this service call is issued for the eventflag of the TA_WSGL attribute maximum number of tasks that can be queued 1 for tasks already queued in the wait queue a return value of E_ILUSE 28 will be returned regardless of whether the condition can be immediately met or not Return Value Macro Num Description E OK 0 Normal termination R20UT0519EJ0100 Rev 1 00 ztENESAS Page 102 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Num Description E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_ PAR 17 waiptn wfmode or p_figptn is invalid waiptn 0 wimode is invalid p_flgptn
152. ructions to branch to PE common boot processing for a handler address to which the CPU forcibly passes control when a reset occurs Basic format When coding a reset entry routine assign processing to branch to PE common boot processing for a handler address to which the CPU forcibly passes control when a reset occurs However when PE common boot processing is defined as a CPU exception handler with CPU exception handler information the reset entry is included in the entry file created by executing the configurator Therefore if custom ization of the reset entry processing is unnecessary use of the relevant entry file makes coding of reset entry pro cessing unnecessary The following shows the basic format of reset entry processing in assembly CX version RESET cseg text jr __ boot Branch to PE common boot processing CCV850E version sorg 0x00000000 JE __ boot Branch to PE common boot processing R20UT0519EJ0100 Rev 1 00 tENESAS Page 37 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 12 SYSTEM INITIALIZATION ROUTINE 12 2 2 Boot processing Boot processing is a routine dedicated to initialization processing that is extracted as a user own coding module to ini tialize the minimum required hardware for the RI850MP to perform processing It is comprised of PE common processing and PE specific boot processing PE common boot processing PE common boot processing is a routine dedicate
153. ry area TMO signed long Wait time RELTIM unsigned long Relative time SYSTIM See 13 3 11 System time SYSTIM for details about SYSTIM VP_INT signed int Pointer to undetermined type or signed 32 bit integer ER_BOOL signed long Return value of service call or Boolean value TRUE or FALSE ER_ID signed long Return value of service call or object ID ER_UINT unsigned int Return value of service call or unsigned 32 bit integer FLGPTN unsigned int Bit pattern T_MSG See 13 3 9 Message no priority T_ MSG for details about T MSG R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 42 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Type Description T_MSG_PRI See 13 3 10 Message with priority T MSG_PRI for details about T_MSG_PRI INTNO unsigned short Exception cause code INTPMR unsigned short Register value PE_ID unsigned char PE number 13 2 2 Return values The return values are defined in the header files errcd h and options h that are called from standard header file ker nel h Table 13 2 Return Values Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function E PAR 17 Parameter is invalid E ID 18 ID is invalid E_ CTX 25 Context error E_ILUSE 28 Invalid service call use E_ OBJ 41 Object status error E_QOVR 43 Queuing overflow E_RLWAI 49 Forced cancellation of WAITING stat
154. s 75 can_wup 80 dly_tsk 86 frsm_tsk 85 ican_wup 80 ifrsm_tsk 85 irel_wai 81 irsm_tsk 84 isus_ tsk 82 iwup_tsk 79 rel_wai 81 rsm_tsk 84 slp_tsk 76 sus_tsk 82 tslp_tsk 77 wup_tsk 79 Task information 47 194 Task management functions 63 act_tsk 64 can_act 66 get_tim 152 iget_tim 152 iref_cyc 156 iset_tim 151 ista_cyc 153 istp_cyc 155 ref_cyc 156 set_tim 151 sta_cyc 153 stp_cyc 155 Timer interrupt information 186 tloc_mtx 136 trev_dtq 117 trcv_mbx 128 tslp_tsk 77 tsnd_diq 111 twai_flg 104 twai_sem 92 U unl_cpu 164 unl_mtx 138 User own coding modules 25 30 Disable interrupt routine 27 Enable interrupt routine 27 chg_pri 69 Interrupt mask acquisition routine 26 ext_tsk 67 Interrupt mask logical OR routine 25 get_pri 72 Interrupt mask overwrite routine 26 iact_tsk 64 ican_act 66 Ww ichg_pri 69 wai_flg 100 iget_pri 72 wai_sem 89 iref_tsk 73 wup_tsk 79 ref_tsk 73 ter_tsk 68 Task request conditions 44 R20UT0519EJ0100 Rev 1 00 2tENESAS Page 214 of 218 Apr 01 2011 Revision Record Description Apr 01 2011 i First Edition issued RI850MP User s Manual Coding Publication Date Rev 1 00 Apr 01 2011 Published by Renesas Electronics Corporati
155. s enabled Extended information exinf Specifies the extended information for the task The value of exinf must be between 0x0 and Oxffffffff or a symbol name Remark Extended information is set as a parameter in the task when it transitions from DORMANT state to READY state R20UT0519EJ0100 Rev 1 00 ztENESAS Page 194 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE 4 5 6 7 8 Startup address task Specifies the startup address of the task The value of task must be between 0x0 and OxFFFFFFFE aligned to a 2 byte boundary or a symbol name Initial priority itskpri Specifies the initial priority level of the task The only values that can be specified as jtskpri are 1 to Maximum priority maxtpri Remark In the RI850MP tasks with lower priority numbers have higher priority Stack size stksz This specifies the task stack size in bytes A value from 0x0 to 0x10000000 aligned to a 4 byte boundary can be specified for stksz Section name secnam This specifies the section name assigned to the task stack The only values that can be specified in secnam are section names specified in Section information Remark If the definition of this item is omitted the RI850MP assumes that kernel_work_pepeno has been specified The value of peno in kernel_stack_pepeno is the PE number of the processor element assigned to the domain of the task information PE number specified in Proce
156. s ser vice call is issued this service queues the invoking task to the target mailbox wait queue and moves it from the RUNNING state to the WAITING state for a mailbox The WAITING state for a mailbox is cancelled in the following cases and then moved to the READY state Cancellation of WAITING State for a Mailbox Return Value A message was transmitted to the target mailbox as a result of issuing snd_mbx isnd_mbx E_OK Forced release from WAITING state for a mailbox as a result of issuing rel_wai irel_wai E_RLWAI R20UT0519EJ0100 Rev 1 00 tENESAS Page 124 of 218 Apr 01 2011 RI850MP Ver 1 00 00 Remarks 1 Return Value Tasks are queued in the mailbox wait queue according to the queuing method specified by Attribute CHAPTER 13 SERVICE CALLS mbxatr order in which message receipt requests were made or order of task priority If the WAITING state for a mailbox is forcibly released by issuing rel_wai irel_wai the contents of the area specified by pok_msg will be undefined See 13 3 9 Message no priority T MSG and 13 3 10 Message with priority T MSG_PRI for details about messages no priority and messages with priority Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 ppk_msg is invalid ppk_msg 0 E_ID 18 mbxid is invalid I
157. sabled status E_RLWAI 49 Forced cancellation of Receiving WAITING state for a data queue Issuance of rel_wai irel_ wai E_TMOUT 50 Timeout Time specified by tmout has elapsed timeout R20UT0519EJ0100 Rev 1 00 2tENESAS Page 118 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS ref_dtq iref_dtq Overview Reference data queue information Syntax ER ref_dtq ID dtqid T_RDTQ pk_rdtq ER iref_dtq ID dtgid T_RDTQ pk_rdtq Parameters Parameter Description oe ee Pointer to the area storing detailed information about the data queue Data Queue Information T_RDTQ typedef struct t_rdtq ID stskid Existence of tasks awaiting sending ID rtskid Existence of tasks awaiting receiving UINT sdtaent Data count ATR dtqatr Attribute UINT dtqent Max data count T_RDTOQ Function These service calls store the information about the data queue e g existence of tasks awaiting sending specified by dtqid into the area specified by pk_ratq Remark See 13 3 4 Data queue information T_RDTQ for details about data queue information Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 pk_rdtq is invalid pk_rdtq 0 R20UT0519EJ0100 R
158. scription E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 pk_rsem is invalid pk_rsem 0 E ID 18 semid is invalid ID is not identified in Semaphore information R20UT0519EJ0100 Rev 1 00 ztENESAS Page 94 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Description E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 95 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 4 Synchronization and communication functions eventflags Below is a list of the service calls provided by the RI850MP as synchronization and communication functions event flags Table 13 14 Synchronization and Communication Functions Eveniflags Service Call Function Overview set_flg iset_flg Bit pattern changed clr_flg iclr_flg Bit pattern cleared wai_flg Bit pattern determined pol_flg ipol_fig Bit pattern determined polling twai_flg Bit pattern determined with timeout ref_flg iref_flg Eventflag information referenced R20UT0519EJ0100 Rev 1 00 2tENESAS Page 96 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS set_flg iset_flg Overview Bit pattern changed Syntax ER set_flg ID flgid FLGPTN setpt
159. se STAT tskwait Wait cause ID wobjid Object ID TMO lefttmo Remaining time until timeout UINT actcnt Activation request nesting count UINT wupcnt Wake up request nesting count UINT suscnt Forced wait request nesting count ATR tskatr Attribute PRI itskpri Initial priority PE_ID peid PE number T_RTSK Below are details about the task information tskstat This stores the task s current status Macro Num Description TTS_RUN 0x1 RUNNING state TTS_RDY 0x2 READY state TTS_WAI 0x4 WAITING state TTS_SUS 0x8 SUSPENDED state TTS_WAS OxC WAITING SUSPENDED state TTS_DMT 0x10 DORMANT state tskpri This stores the task s current priority If the task is DORMANT state the initial priority is stored tskbpri This area is reserved by the system R20UT0519EJ0100 Rev 1 00 2tENESAS Page 47 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS tskwait This stores the tasks wait cause wait state type If the task is in WAITING state or WAITING SUSPENDED state TTW_NONE 0x0 is stored Macro Num Description TTW_NONE 0x0 Not waiting TTW_SLP 0x1 Sleeping state TTW_DLY 0x2 Delayed state TTW_SEM 0x4 WAITING state for a semaphore resource TTW_FLG 0x8 WAITING state for an eventflag TTW_SDTQ 0x10 Sending WAITING state for a data queue TTW_RDTQ 0x20 Receiving WAITING state for a
160. sk T_MSG pk_msg Existence of waiting message ATR mbxatr Attribute T_RMBX Function The service calls store the information for the mailbox specified by mbxid e g existence of waiting tasks into the area specified by pk_rmbx Remark See 13 3 5 Mailbox information T_RMBX for details about mailbox information Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 pk_rmbx is invalid pk_rmbx 0 E_ID 18 mbxid is invalid ID is not identified in Mailbox information R20UT0519EJ0100 Rev 1 00 ztENESAS Page 130 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Macro Description E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 Apr 01 2011 2tENESAS Page 131 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 4 7 Extended synchronization and communication functions Below is a list of the service calls provided by the RI850MP as extended synchronization and communication functions Table 13 17 Extended Synchronization and Communication Functions Service Call Function Overview loc_mtx Acquire mutex ploc_mtx Acquire mutex polling tloc_mtx Acquire mutex with timeout unl_mtx Release m
161. specified for dtqcnt are limited to 0 to 1023 Section name secnam This specifies the section name assigned to the buffer area of the data queue The only values that can be specified in secnam are section names specified in Section information Remark If the definition of this item is omitted the RI850MP assumes that kernel_work_pepeno has been specified The value of peno in kernel_work_pepeno is the PE number of the processor element assigned to the domain of the data queue information PE number specified in Processor element information System reserved area dtq This area is reserved by the system Only 0 or NULL can be specified as atq R20UT0519EJ0100 Rev 1 00 ztENESAS Page 198 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 5 Mailbox information The following items are defined as mailbox information ID mbxid Attribute mbxatr Maximum priority maxmpri System reserved area mprihd 0 to 1 023 items can be specified as mailbox information Below is the format for coding the mailbox information CRE_MBX mbxid mbxatr maxmpri mprihd 1 2 3 4 ID mbxid This specifies the ID of the mailbox Only names can be specified as mbxid Remark The correspondence between mbxid and numerical values is output to the system information header file in the following format define mbxid number Attribute mbxatr This specifies th
162. specified must be a constant expression R20UT0519EJ0100 Rev 1 00 2tENESAS Page 180 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE Keywords The words shown below are reserved as keywords for configuration files Using these words for any other purpose specified is therefore prohibited ATT_INI CLK_INTNO CRE_CYC CRE_DTQ CRE_FLG CRE_MBX CRE_MPF CRE_MTX CRE_SEM CRE_TSK DEF_EXC DEF_FPSR DEF_INH DEF_SCT DEF_TIM DOMAIN DOMAIN_ ALLOCATION INCLUDE MAX_PRI MEM_AREA NULL RI850MP RI_SERIES SIZE_AUTO SYS_STK TA_ACT TA_ASM TA_CLR TA_DISINT TA_ENAINT TA_HLNG TA_MFIFO TA_MPRI TA_PHS TA_STA TA_TFIFO TA_TPRI TA_WMUL TA_WSGL V100 to V199 VATT_IDL and service call names R20UT0519EJ0100 Rev 1 00 2tENESAS Page 181 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 1 1 Configuration Information The configuration information that is coded in the RI850MP is divided into the following five main types Declarative Information System Information Domain Information Static API Information SCT Information The following illustrates how the configuration file is written Figure B 1 Configuration File Writing Format Declarative Information INCLUDE h_file Header file declaration System Information RI_SERIES osnam osver RI series information DEF_TIM tbase Base clock interval information CLK_INTNO tintno
163. ssing is suspended when a specified activation cycle has come and control is passed to the cyclic handler 7 3 1 Cyclic handler states The RI850MP classifies the states that cyclic handler can enter into the following two types Non operational state A state in which the cyclic handler is not activated even when the time specified for the cycle has passed Operational state A state in which the cyclic handler is activated when the time specified for the cycle has passed The interval up to activation for the first transition from the non operational state to the operational state depends on whether the TA PHS property activation phase saved whether the activation phase is saved is set for the tar get cyclic handler R20UT0519EJ0100 Rev 1 00 ztENESAS Page 22 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 7 TIME MANAGEMENT FUNCTIONS 7 3 2 Basic format of cyclic handlers When coding a cyclic handler use a void function with one VP_INT argument The argument exinf contains extended information specified with Cyclic handler information The following shows the basic format of a cyclic handler coded in C include lt kernel h gt void cychdr VP_INT exinf 7 3 3 Cyclic handler registration The RI850MP supports only static registration of cyclic handlers Therefore timer interrupts cannot be registered dynamically by issuing a service call from a processing program Static cyclic handler registration me
164. ssor element information System reserved area sik This area is reserved by the system Only 0 or NULL can be specified as stk R20UT0519EJ0100 Rev 1 00 2tENESAS Page 195 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 2 Semaphore information The following items are defined as semaphore information ID semid Attribute sematr Initial resource count isemcnt Maximum resource count maxsem 0 to 1 023 items can be specified as semaphore information The description format of semaphore information is as follows CRE_SEM semid sematr isemcnt maxsem 1 ID semid Specifies the semaphore ID Only names can be specified as semid Remark The correspondence between semid and numerical values is output to the system information header file in the following format define semid number 2 Attribute sematr This specifies the semaphore attribute queuing method Only the following keywords can be specified as sematr Task queuing method TA_TFIFO Order in which resource acquisitions were requested TA_TPRI Order of task priority 3 Initial resource count isemcnt Specifies the initial number of semaphore resources The only values that can be specifies as isemcnt are 0 to Maximum resource count maxsem 4 Maximum resource count maxsem Specifies the maximum number of semaphore resources The only values that can be specified for maxsem are
165. state ena_dsp Transition to dispatching enabled state sns_ctx Get context type non task context or task context sns_loc Get system state type CPU locked state or CPU unlocked state sns_dsp Get system state type dispatching disabled state or dispatching enabled state sns_dpn Get system state type dispatching hold state or non dispatching hold state R20UT0519EJ0100 Rev 1 00 2tENESAS Page 158 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS rot_rdq irot_rdq Overview Rotate priority Syntax ER rot_rdq PRI tskpri ER irot_rdq PRI tskpri j Parameters I O Parameter Description PRI tskpri Task priority TPRI_SELF Current priority of invoking task Numerical value Task priority Function This issues a rotate request to the ready queue and explicity changes the task execution order This reverses the order of the task in the ready queue with tasks having higher priority specified by tskpri at the front of the queue last and the tasks with lowest priority first Remarks 1 Below are described the changes that issuing this service call causes to the state of the ready queue Ready queue 7 tskpri ID Task_A ID Task_B ID Task_C Priority tskpri Priority tskpri Priority tskpri maxtpri al rot_rdq tskpri Ready queue 7 tskpri ID Task_B ID Task_C ID Task_A Pri
166. state entered by a task whose processing has ended A task in the waiting state while being under management of the RI850MP is not subject to RI850MP scheduling READY state State of a task for which the preparations required for processing execution have been completed but which is cur rently waiting to acquire the right to use the CPU because the processing of another task with a higher priority level is currently being executed R20UT0519EJ0100 Rev 1 00 ztENESAS Page 13 of 218 Apr 01 2011 RI850MP Ver 1 00 00 RUNNING state CHAPTER 2 TASK MANAGEMENT FUNCTIONS State of a task that has acquired the right to use the CPU and is currently running WAITING state State in which processing execution has been suspended because conditions required for execution are not satis fied Resumption of processing from the WAITING state starts from the point where the processing execution was sus pended On the RI850MP the WAITING state is classified into the following nine types according to the type of required conditions Table 2 1 Waiting State Types State type Outline Sleeping state A task enters this state if the counter for the task registering the num ber of times the wakeup request has been issued indicates 0x0 upon the issuance of a slp_tsk or tslp_tsk Delayed state A task enters this state upon the issuance of a dly_tsk WAITING state for a semaphore resource A task enters
167. t Current resource count ATR sematr Attribute UINT maxsem Maximum resource count T_RSEM Details of the semaphore information are described below wtskid This stores whether there are any tasks queued in the semaphore wait queue Macro Num Description TSK_NONE 0 No tasks are queued in the wait queue Other The ID of the first task queued in the wait queue than 0 semcnt This stores the current number of semaphore resources sematr This stores the semaphore attribute queuing method Task queuing method bit 0 TA_TFIFO Order in which resource acquisitions were requested TA_TPRI Order of task priority 15 0 d TA_TFIFO TA_TPRI maxsem This stores the maximum number of semaphore resources R20UT0519EJ0100 Rev 1 00 RENESAS Apr 01 2011 Page 50 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS 13 3 3 Eventflag information T_RFLG Eventflag information is defined in the header file packet h that is called from standard header file kernel h typedef struct t_rflg ID wtskid Existence of waiting task FLGPIN flgptn Current bit pattern ATR flgatr Attribute T_RFLG Details of the eventflag information are described below wtskid This stores whether there are any tasks queued in the eventflag wait queue Macro Num Description TSK_NONE 0 No tasks are queued in the wait queue Other The
168. t entry routine in assembly CX version inhno cseg text inhno Exception name JE __kernel_int_entry Branch to interrupt preprocessing CCV850E version org inthdr inthdr Activation address jr __kernel_int_entry Branch to interrupt preprocessing 9 3 Interrupt Handlers An interrupt handler is a routine dedicated to interrupt servicing that is activated when an interrupt occurs The RI850MP handles interrupt handlers as non tasks separately from tasks Therefore even if a task with the high est priority in the system is being executed the processing is suspended when an interrupt occurs and the control is passed to the interrupt handler 9 3 1 Basic format of interrupt handlers Code an interrupt handler as a void type function that has no arguments The following shows the basic format of an interrupt handler coded in C include lt kernel h gt void inthdr void return R20UT0519EJ0100 Rev 1 00 2tENESAS Page 28 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 9 INTERRUPT MANAGEMENT FUNCTIONS 9 3 2 Interrupt handler registration The RI850MP supports only static registration of interrupt handlers Therefore interrupt handlers cannot be registered dynamically by issuing a service call from a processing program Static interrupt handler registration means defining of interrupt handlers by using the static API DEF_INH in the sys tem configuration file
169. t messages no priority and messages with priority R20UT0519EJ0100 Rev 1 00 ztENESAS Page 126 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 ppk_msg is invalid ppk_msg 0 E ID 18 mbxid is invalid ID is not identified in Mailbox information E CTX 25 Context error Issued from CPU lock status E_TMOUT 50 Polling failure No messages are in the wait queue of the target mailbox R20UT0519EJ0100 Rev 1 00 2tENESAS Page 127 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Receive from a mailbox with timeout Syntax ER trcv_mbx ID mbxid T_MSG ppk_msg TMO tmout j Parameters I O Parameter Description l ID mbxid ID of mailbox O T_MSG ppk_msg Start address of the message packet received from the mailbox l TMO tmout Specified timeout in millisecond TMO_FEVR Wait forever TMO_POL Polling Numerical value Wait time Message No Priority T_MSG typedef struct t_msg struct t_msg msgque Reserved for future use EPE E Message body Message with Priority T_MSG_PRI typedef struct t_msg_pri T_MSG msgque Reserved for future use PRI ms
170. t priority of the task specified by tskid to the value specified by tskpri If the target task is in RUNNING or READY state when this service call is issued then after the current priority is changed the tasks will be relinked to the end of the ready queue corresponding to the priority specified by tskpri If the target task is not queued in a task priority wait queue when this service call is issued then after the priority is changed the task will be relinked to an appropriate location on the wait queue Remarks 1 In the RI850MP tasks with lower priority numbers have higher priority R20UT0519EJ0100 Rev 1 00 2tENESAS Page 69 of 218 Apr 01 2011 RI850MP Ver 1 00 00 2 Below are described the changes that issuing this service call causes to the state of the ready queue Ready queue CHAPTER 13 SERVICE CALLS o chg_pri Task_B tskpri_high Ready queue 7 tskpri_high ID Task_A Priority tskpri_high tskpri_low ID Task_B ID Task_C ID Task_D Priority tskpri_low Priority tskpri_low Priority tskpri_low maxtpri 7 tskpri_high ID Task_A ID Task_B Priority tskpri_high Priority tskpri_high tskpri_low ID Task_C ID Task_D Priority tskpri_low Priority tskpri_low maxtpri 3 Below are described the changes that issuing this service call causes to the state of the wait queue W
171. tENESAS Page 90 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Acquire semaphore resource polling Syntax ER pol_sem ID semid ER ipol_sem ID semid Parameters I O Parameter Description a ID semid ID of semaphore Function This service call acquires a resource from the semaphore specified by semid subtracts 1 from the semaphore counter If the target semaphore resource cannot be acquired the count is already 0 when this service call is issued E_ TMOUT 50 is returned Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E ID 18 semid is invalid ID is not identified in Semaphore information E_ CTX 25 Context error Issued from CPU lock status E_TMOUT 50 Polling failure Number of target semaphore resources is 0 R20UT0519EJ0100 Rev 1 00 ztENESAS Page 91 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Acquire semaphore resource with timeout Syntax ER twai_sem ID semid TMO tmout Parameters I O Parameter Description l ID semid ID of semaphore l TMO tmout Specified timeout in millisecond TMO_FEVR Wait forever TMO_POL Polling Numerical value Wait tim Function This service call acq
172. t_ipm Overview Reference priority mask register Syntax ER get_ipm INTPMR p_ipmptn ER iget_ipm INTPMR p_ipmptn Parameters VO Parameter Description o INTPMR p_ipmptn Pointer to the area in which register value is stored Function This acquires the value of the Priority Mask Register PMR and stores it in the area specified by p_ipmptn Return Value Macro Num Description E_OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E_ PAR 17 p_ipmptn is invalid p_ipmptn 0 E CTX 25 Context error Issued from CPU lock status R20UT0519EJ0100 Rev 1 00 ztENESAS Page 176 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX A CONFIGURATOR APPENDIX A CONFIGURATOR This appendix describes the configurator A 1 Outline The configurator is a utility tool that accepts configuration files as input and outputs files containing configuration data to be provided to the RI850MP system information table file entry file system information header file service call table file The information files output from the configurator are explained below System information table file An information file that contains data required by the RI850MP to operate Entry file An information file that contains assignments to branch processing to time management functions i
173. tely met or not The wait queue for the eventflag for tasks with the TA_WMUL attribute maximum number of tasks that can be queued multiple is ordered using the queuing method specified by the Attribute flgatr order of bit pattern determination requests or order of task priority If the WAITING state for an eventtflag is forcibly released by issuing rel_wai irel_wai the contents of the area specified by p_flgptn will be undefined If tmout is specified as TMO_FEVR then the processing is equivalent to wai_fig If it is specified as TMO_POL then the processing is equivalent to pol_flg ipol_flg Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call E PAR 17 waiptn wfmode p_flgptn or tmout is invalid waiptn 0 wimode is invalid p_flgptn 0 tmout lt TMO_FEVR EID 18 flgid is invalid ID is not defined in Eventflag information E CTX 25 Context error Issued from non task Issued from CPU lock status Issued from dispatching disabled status E_ILUSE 28 Invalid service call use Issued for an eventflag with a TA_WSGL attribute and a task is already E_RLWAI 49 Forced cancelation of WAITING state for an eventflag Issuance of rel_wai irel_ wai E_TMOUT 50 Timeout Time specified by tmout has elapsed timeout R20UT0519EJ0100 Rev 1 00 CENESAS Page 105 of 218 Apr 01
174. th Task information The following shows the basic format of tasks coded in C CX version include lt kernel h gt pragma rtos_task task void task VP_INT exinf ext_tsk CCV850E version include lt kernel h gt void task VP_INT exinf ext_tsk R20UT0519EJ0100 Rev 1 00 2tENESAS Page 15 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 2 TASK MANAGEMENT FUNCTIONS 2 2 4 Task creation The RI850MP supports only static task creation Therefore tasks cannot be created dynamically by issuing a service call from a processing program Static task creation means defining of tasks using the static API CRE_TSK in the system configuration file Remark For details about the static API CRE_TSK refer to B 5 1 Task information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 16 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 3 TASK DEPENDENT SYNCHRONIZATION FUNCTIONS CHAPTER 3 TASK DEPENDENT SYNCHRONIZATION FUNCTIONS This chapter describes the task dependent synchronization functions provided by the RI850MP 3 1 Outline The task dependent synchronization functions provided by the RI850MP enable synchronization between tasks to be performed concurrently with task state manipulations Remark For details about service calls provided by the RI850MP for task dependent synchronization functions refer to 13 4 2 Task dependent synchronization functions R20UT0519EJ0100 Rev 1
175. th is 32 bits 4 3 1 Eventflag creation The RI850MP supports only static creation of eventflags Therefore eventflags cannot be created dynamically by issu ing a service call from a processing program Static eventflag creation means defining of eventflags by using the static API CRE_FLG in the system configuration file Remark For details about the static API CRE_FLG refer to B 5 3 Evenitflag information R20UT0519EJ0100 Rev 1 00 ztENESAS Page 18 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 4 SYNCHRONIZATION AND COMMUNICATION 4 4 Data Queues Data queues are provided to enable synchronization and communication between tasks Remark The RI850MP provides data queues that enable transmission and reception of data in the specified size 4 bytes 4 4 1 Data queue creation The RI850MP supports only static data queue creation Therefore data queues cannot be created dynamically by issu ing a service call from a processing program Static data queue creation means defining of data queues by using the static API CRE_DTQ in the system configura tion file Remark For details about the static API CRE_DTQ refer to B 5 4 Data queue information 4 5 Mailboxes Mailboxes are provided to enable synchronization and communication between tasks Remark The RI850MP provides mailboxes that enable transmission and reception of data in any size 4 5 1 Mailbox creation The RI850MP supports only static mailbox creation
176. then moved to the READY state Cancelation of WAITING State for an Eventflag Return Value A bit pattern that satisfies the required condition was set to the target eventflag as a result of issu E_OK ing set_flg iset_flg Forced release from WAITING state for an eventflag as a result of issuing rel_wai irel_wai E_RLWAI Below are shown the wfmode request conditions which are the criteria for judging bit patterns TWF_ANDW Determine if all bits set to 1 in waiptn are set in the target eventflag TWF_ORW Determine if any bits set to 1 in waiptn are set in the target eventflag Remarks 1 On the RI850MP if this service call is issued for the eventflag of the TA_WSGL attribute maximum number of tasks that can be queued 1 for tasks already queued in the wait queue a return value of E_ILUSE 28 will be returned regardless of whether the condition can be immediately met or not R20UT0519EJ0100 Rev 1 00 ztENESAS Page 100 of 218 Apr 01 2011 RI850MP Ver 1 00 00 Return Value The wait queue for the eventflag for tasks with the TA_WMUL attribute maximum number of tasks that can be queued multiple is ordered using the queuing method specified by the Attribute flgatr order of CHAPTER 13 SERVICE CALLS bit pattern determination requests or order of task priority If the WAITING state for an eventtflag is forcibly released by issuing rel_wai irel_wai the contents of the area specified
177. this state if it cannot acquire a resource from the relevant semaphore upon the issuance of a wai_sem or twai_sem WAITING state for an eventflag A task enters this state if a relevant eventflag does not satisfy a prede termined condition upon the issuance of a wai_flg or twai_fig Sending waiting state for a data queue A task enters this state if cannot receive a data from the relevant data queue upon the issuance of a snd_dig or tsnd_diq Receiving waiting state for a data queue A task enters this state if cannot receive data from the relevant data queue upon the issuance of a rcv_dtq or trcv_diq Receiving waiting state for a mailbox A task enters this state if cannot receive a message from the relevant mailbox upon the issuance of a rcv_mbx or trcv_mbx WAITING state for a mutex A task enters this state if it cannot lock the relevant mutex upon the issuance of a loc_mtx or tloc_mtx WAITING state for a fixed sized memory block A task enters this state if it cannot acquire a fixed sized memory block from the targetr fixed sized memory pool upon the issuance of a get_mpf or tget_mpf SUSPENDED state State in which processing execution has been suspended forcibly Resumption of processing from the SUSPENDED state starts from the point where the processing execution was suspended WAITING SUSPENDED state State in which the WAITING and SUSPENDED states are combined A task enters t
178. tion is not specified the search is carried out only in the current folder and fold ers specifed with Windows environmental variables PATH and so on A lt include_path gt Seaches the lt include_path gt folder for header files defined in the Header file declaration If this activation option is not specified the search is carried out only in the default search folder of the C compiler package specified with the he tA lt tools option np Suppresses activation of the C preprocessor When this activation option is specified lines in the configuration file that start with are treated as comment lines cnvA lt cnvfile gt Ouputs the configuration specified with lt cffile gt as a configuration file for the RI850MP V Outputs version information for the configurator to the standard output help Outputs information about the activation options of the configurator types usage and so on to the standard output lt cffile gt Specifies the name of a file input to the configurator configuration file name R20UT0519EJ0100 Rev 1 00 Apr 01 2011 If this activation option is not specified the configurator does not load the configuration file This activation option can be omitted only when the V or help option is specified For details about the configuration file refer to APPENDIX B CONFIGURATION FILE 2tENESAS Page 178 of 218 RI850MP Ver 1 00 00 APPENDIX A CONFIGURATOR A 2 2 A
179. tions Releases the acquired mutex Changes the current priority to the same value as Initial priority itskpri Sets the wake up request nesting counter to 0 Sets the forced wait request nesting counter to 0 Changes the interrupt state to the same state as the initial interrupt state of Attribute tskatr Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call EID 18 tskid is invalid ID is not defined in Task information E_ CTX 25 Context error Issued from non task Issued from CPU lock status E_ILUSE 28 Invalid service call use The target task belongs to a different PE The invoking task was specified in tskid E_ OBJ 41 Object status error The target task is in DORMANT state R20UT0519EJ0100 Rev 1 00 Apr 01 2011 ztENESAS Page 68 of 218 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS chg_pri ichg_pri Overview Change the current priority Syntax ER chg_pri ID tskid PRI tskpri ER ichg_pri ID tskid PRI tskpri Parameters 1 0 Parameter Description l ID tskid ID of task TSK_SELF Current task Numerical value ID of task l PRI tskpri Current priority after change TPRI_INI Initial priority Numerical value Current priority after change Function These service calls change the curren
180. tus register as follows DEF_FPSR 0x20000 R20UT0519EJ0100 Rev 1 00 2tENESAS Page 189 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 3 7 Section information The following items are defined as information relating to sections allocating buffer areas for the system stack task stack and data queue and for the fixed size memory pool Section namesecnam Section size secsz 0 to 255 items can be specified as section information The description format of section information is as follows MEM_AREA secnam secsz 1 Section namesecnam This specifies the section name allocating buffer areas for the system stack task stack and data queue and for the fixed size memory pool Only section names specified in the link directive file can be specified as secnam 2 Section size secsz This specifies the maximum section size in bytes A value from 0x0 to 0x10000000 aligned to a 4 byte boundary or SIZE_AUTO can be specified for secsz Remark If SIZE_AUTO is specified in this item the appropriate value will be calculated from the sizes specified in System stack information Task information Data queue information and Fixed sized memory pool information and this value will be assumed to have been specified Remark If the definition of this item is omitted the RI850MP handles the section size as follows MEM_AREA kernel_work_pel SIZE_AUTO MEM_AREA kernel_work_pe2
181. uires a resource from the semaphore specified by semid subtracts 1 from the semaphore counter If the target semaphore resource cannot be acquired the count is already 0 when this service call is issued this ser vice call queues the invoking task in the semaphore wait queue and moves it from the RUNNING state to WAITING state for a semaphore resource The WAITING state for a semaphore resource is cancelled in the following cases and then moved to the READY state Cancellation of WAITING State for a Semaphore Resource Return Value The resource was returned to the target semaphore as a result of issuing sig_sem isig_sem E OK Forced release from WAITING state for a semaphore resource as a result of issuing rel_wai E_RLWAI irel_wai Time specified by tmout has elapsed timeout E_TMOUT Remarks 1 The queuing order of tasks in the semaphore wait queue is determined by the queuing method speci fied by Attribute sematr order in which resource requests were made or order of task priority 2 If tmout is specified as TMO_FEVR then the processing is equivalent to wai_sem If it is specified as TMO_POL then the processing is equivalent to pol_sem ipol_sem Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In the SCT Information there is no definition for the use of this service call R20UT0519EJ0100 Rev 1 00 2tENESAS Page 92 of 218 Apr
182. unt bikcnt This specifies the total count of the fixed size memory blocks Values that can be specified for bikcnt are limited to 1 to 32 767 Block size blksz This specifies the size per block in bytes A value from 0x1 to 0x100000000 aligned to a 4 byte boundary can be specified for biksz Section name secnam This specifies the section name assigned to the fixed size memory pool The only values that can be specified in secnam are section names specified in Section information Remark If the definition of this item is omitted the RI850MP assumes that kernel_work_pepeno has been specified The value of peno in kernel_work_pepeno is the PE number of the processor element assigned to the domain of the fixed size memory pool information PE number specified in Processor element infor mation R20UT0519EJ0100 Rev 1 00 2tENESAS Page 201 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE 6 System reserved area mpf This area is reserved by the system Only 0 or NULL can be specified as mpf R20UT0519EJ0100 Rev 1 00 2tENESAS Page 202 of 218 Apr 01 2011 RI850MP Ver 1 00 00 APPENDIX B CONFIGURATION FILE B 5 8 Cyclic handler information The following items are defined as cyclic handler information ID cycid Attribute cycatr Extended information exinf Startup address cychdr Cycle start cyctim Activation phase cycphs 0 to 1 023 items can be defined as cyclic hand
183. urther Renesas Electronics products are not subject to radiation resistance design Please be sure to implement safety measures to guard them against the possibility of physical injury and injury or damage caused by fire in the event of the failure of a Renesas Electronics product such as safety design for hardware and software including but not limited to redundancy fire control and malfunction prevention appropriate treatment for aging degradation or any other appropriate measures Because the evaluation of microcomputer software alone is very difficult please evaluate the safety of the final products or system manufactured by you Please contact a Renesas Electronics sales office for details as to environmental matters such as the environmental compatibility of each Renesas Electronics product Please use Renesas Electronics products in compliance with all applicable laws and regulations that regulate the inclusion or use of controlled substances including without limitation the EU RoHS Directive Renesas Electronics assumes no liability for damages or losses occurring as a result of your noncompliance with applicable laws and regulations This document may not be reproduced or duplicated in any form in whole or in part without prior written consent of Renesas Electronics Please contact a Renesas Electronics sales office if you have any questions regarding the information contained in this document or Renesas Electronics products or if you
184. utex ref_mtx iref_mtx Reference mutex state R20UT0519EJ0100 Rev 1 00 2tENESAS Page 132 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 13 SERVICE CALLS Overview Acquire mutex Syntax ER loc_mtx ID mtxid Parameters I O Parameter Description l ID mtxid ID of mutex Function This service call acquires the mutex specified by mtxid If the target mutex cannot be acquired another task has already acquired it when this service call is issued this ser vice call queues the invoking task to the target mutex wait queue and moves it from the RUNNING state to WAITING state for a mutex The WAITING state for a mutex is cancelled in the following cases and then the state is moved to the READY state Cancellation of WAITING State for a Mutex Return Value The target mutex was released as a result of issuing unl_mtx E OK The target mutex was released as a result of issuing ext_tsk E OK The target mutex was released as a result of issuing ter_tsk E OK The WAITING state for a mutex was forcibly released as a result of issuing rel_wai irel_wai E_ RLWAI Remark The queuing order of tasks in the mutex wait queue is determined by the queuing method specified by Attribute mtxatr order in which acquire mutex requests were made or order of task priority Return Value Macro Num Description E OK 0 Normal termination E_NOSPT 9 Unsupported function In t
185. vironment is extracted as user own coding modules and provided as sample source files This enhances portability for various execution environments and facilitates customization as well 9 2 1 Interrupt mask logical OR routine This is a routine dedicated to interrupt mask pattern processing It is extracted in a target dependent module for ORing the interrupt mask pattern specified by the parameter of this user own function and the CPU interrupt mask pattern the value of interrupt control register ElCn or interrupt mask flag EIMKn of the interrupt mask register IMRm and storing the result to the interrupt mask flag EIMKn of the target register It is called when service call loc_cpu or iloc_cpu is issued from the processing program Basic format Code an interrupt mask logical OR routine as a void type function that has one VP type argument function name kernel_usr_msk_intmsk The argument p_intms contains a pointer to an area where the interrupt mask pattern to be set is stored The following shows the basic format of an interrupt mask logical OR routine coded in C include lt kernel h gt void kernel_usr_msk_intmsk VP p_intms return R20UT0519EJ0100 Rev 1 00 RENESAS Apr 01 2011 Page 25 of 218 RI850MP Ver 1 00 00 CHAPTER 9 INTERRUPT MANAGEMENT FUNCTIONS 9 2 2 Interrupt mask acquisition routine This is a routine dedicated to interrupt mask pattern acquisition It is extracted in a targ
186. when a reset interrupt occurs until control is passed to a processing pro gram task The following shows the processing flow from when a reset interrupt occurs until control is passed to the processing program Figure 12 1 Flow of System Initialization Processing Reset occurs a Reset entry y PE common boot processing y y PE specific boot PE specific boot processing processing y y Kernel initialization Kernel initialization module module y Synchronization between PEs v v Kernel initialization Kernel initialization module module y Synchronization between PEs Initialization routine Initialization routine l yY WV Scheduling processing Scheduling processing y y Task Task R20UT0519EJ0100 Rev 1 00 2tENESAS Page 36 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 12 SYSTEM INITIALIZATION ROUTINE 12 2 User Own Coding Modules To enable the RI850MP to support various execution environments processing that depends on the user execution environment is extracted as user own coding modules and provided as sample source files This enhances portability for various execution environments and facilitates customization as well 12 2 1 Reset entry routines A reset entry routine is a routine dedicated to entry processing that is extracted for assignment of inst
187. xtended information defined with Initialization routine information The following shows the basic format of an initialization routine coded in C include lt kernel h gt void inirtn VP_INT exinf 10 4 2 Initialization routine registration The RI850MP supports only static registration of initialization routines Therefore CPU exception handlers cannot be registered dynamically by issuing a service call from a processing program Static initialization routine registration means defining of initialization routines by using the static API ATT_INI in the system configuration file Remark For details about the static API ATT_INI refer to B 5 11 Initialization routine information R20UT0519EJ0100 Rev 1 00 2tENESAS Page 32 of 218 Apr 01 2011 RI850MP Ver 1 00 00 CHAPTER 11 SCHEDULER CHAPTER 11 SCHEDULER This chapter describes the scheduler of the RI850MP 11 1 Outline The scheduling functions provided by the RI850MP consist of functions to manage and decide the order in which tasks are executed by monitoring This is done by monitoring the transition states of dynamically changing tasks so that the right to use the CPU is given to the optimum task 11 2 Drive Method The RI850MP employs an event driven system in which the scheduler is activated when an event trigger occurs The following lists the events that cause the RI850MP to activate the scheduler Issuance of a service call that may cause a tas

RI850MP Real-Time Operating System User`s Manual: Coding

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