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OSEKturbo OS/MPC5xx v.2.2.1

1. 1273 y COUNTER DgrCnt MAXALLOWEDVALUE 36 TICKSPERBASE 1 MINCYCLE 1 OSEKturbo OS MPC5xx For More Information www freescale com TR 223 Freescale Semiconductor Inc System Services Alarm Management Services y ALARM TimeAlm COUNTER TimeCnt ACTION ACTIVATETASK TASK TASK_X y y ALARM DgrAlm COUNTER DgrCnt ACTION SETEVENT TASK TASK_B EVENT DgrAlmEvent EVENT DgrAlmEvent MASK 0x01 MESSAGE Norm TYPE UNQUEUED CDATATYPE int y The alarm TimeAlm activates the task TASK_X when the counter TimeCnt expires The alarm DgrAlm sets the specified event for the task TASK_B when the counter DgrCnt expires The C language code can be the following OSMSGNorm _Norm TASK TaskTime TickType curTime TickType ticksToExpire OSBYTE i 0 InitCounter TimeCnt 0 init time counter with 0 value CounterTrigger TimeCnt increments counter while i 1 TR 224 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Alarm Management Services read TimeCnt value GetCounterValue TimeCnt amp curTime 1f curTime CONST if desired value activate TaskB ActivateTask TASK _B SetRelAla
2. HW Priority Interrupt Source OS PRIORITY O Highest EXT_IRQ 0 47 1 Level 0 46 2 IMB_IRQO 45 3 IMB_IRQ 1 44 4 IMB_IRQ 2 43 5 IMB_IRQ 3 42 6 EXT_IRQ 1 41 7 Level 1 40 8 IMB_IRQ 4 39 9 IMB_IRQ 5 38 10 IMB_IRQ 6 37 11 IMB_IRQ 7 36 12 EXT_IRQ 2 35 13 Level 2 34 14 IMB_IRQ 8 33 15 IMB_IRQ 9 32 16 IMB_IRQ 10 31 17 IMB_IRQ 11 30 18 EXT_IRQ 3 29 19 Level 3 28 20 IMB_IRQ 12 27 21 IMB_IRQ 13 26 22 IMB_IRQ 14 25 23 IMB_IRQ 15 24 24 EXT_IRQ 4 23 25 Level 4 22 26 IMB_IRQ 16 21 27 IMB_IRQ 17 20 28 IMB_IRQ 18 19 29 IMB_IRQ 19 18 30 EXT_IRQ 5 17 OSEKturbo OS MPC5xx TR 173 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC565 563 561 Features Table 145 Sources Versus Levels and PRIORITY for MPC565 563 561 HW Priority Interrupt Source OS PRIORITY 31 Level 5 16 32 IMB_IRQ 20 15 33 IMB_IRQ 21 14 34 IMB_IRQ 22 13 35 IMB_IRQ 23 12 36 EXT_IRQ6 11 37 Level 6 10 38 IMB_IRQ 24 9 39 IMB_IRQ 25 8 40 IMB_IRQ 26 7 41 IMB_IRQ 27 6 42 EXT_IRQ7 5 43 Level 7 4 44 IMB_IRQ 28 3 45 IMB_IRQ 29 2 46 IMB_IRQ 30 1 47 Lowest IMB_IRQ 31 0 To have ability to use the Enhanced Interrupt Controller it is necessary to locate the extTable section on the address no less than 0x1d000 aligned to 0x800 boundary See the makefiles in the sample standa
3. Data Sheet Table B 1 Run time Services Timing Characteristics CodeWarrior Diab CC Configuration Conditions Timing Latency Timing Latency cycles Hs cycles Hs cycles Hs cycles Hs Activate Task Initial Task 52 1 3 20 0 5 52 1 3 20 0 5 activated no rescheduling Task activated 80 2 40 1 80 2 44 1 1 an rescheduled Internal Task activated 112 2 8 84 2 1 120 3 84 2 1 resource an defined rescheduled SCHEDULE Task 36 0 9 20 0 5 44 1 1 16 0 4 NON activated for all tasks no rescheduling TerminateTask Initial Task 44 1 1 16 0 4 48 1 2 20 0 5 terminated return to lower prio task Initial Task 44 1 1 8 0 2 40 1 8 0 2 terminated new task started Internal Task 108 2 7 84 2 1 84 2 1 52 1 3 resource terminated defined return to lower prio task Internal Task 112 2 8 84 2 1 72 1 8 36 0 9 resource terminated defined new task started SCHEDULE Task 44 1 1 16 0 4 44 1 1 24 0 6 NON terminated for all tasks return to lower prio task SCHEDULE Task 44 1 1 12 0 3 44 1 1 12 0 3 NON terminated for all tasks new task started OSEKturbo OS MPC5xx TR 269 For More Information www freescale com System Service Timing Freescale Semiconductor Inc Data Sheet Table B 1 Run time Services Timing Characteristics CodeWarrior Diab CC Configuration Conditions Timing Latency Timing Latency cycles H
4. For More Information www freescale com to the table bellow Table 10 1 OSEK OS System Services for Hook Routines Hook routines Error PreTask PostTask Startup Shutdown Service Hook Hook Hook Hook Hook ActivateTask ES Pa EN ss Terminate Task zo Pa En a ChainTask SS e as E pe Schedule a sa ee La GetTaskld allowed allowed allowed 3 GetTaskState allowed allowed allowed 7 DisableAlllnterrupts es ah ES EnableAlllnterrupts Es Le SuspendAllInterrupts allowed allowed allowed ResumeAllInterrupts allowed allowed allowed E SuspendOSInterrupts 7 ResumeOSInterrupts Da Pe Pa GetResource n da ReleaseResource a si SA Pe SetEvent DS 5 ES x ClearEvent PA sa SA na GetEvent allowed allowed allowed WaitEvent ES ES InitCounter 5 2 CounterTrigger sa a 2 Za a GetCounterValue allowed allowed allowed TR 96 OSEKturbo OS MPC5xx Freescale Semiconductor Inc Error Handling and Special Routines Hook Routines Table 10 1 OSEK OS System Services for Hook Routines Hook routines Error PreTask PostTask Startup Shutdown Service Hook Hook Hook Hook Hook GetCounterlnfo allowed allowed allowed GetAlarmBase allowed allowed allowed 7 GetAlarm allowed allowed allowed ES SetRelAlarm a ES 2a 23 S SetAbsAlarm Ez si dA ES DE CancelAlarm zz DE ES ES ES SendMessage allowed for unqueued
5. Table 3 4 Task Management Run time Services Service Name Description ChainTask Terminates the running task and activates the new one immediately Schedule Yields control to a higher priority ready task if any GetTaskld Gets the identifier of the running task GetTaskState Gets the status of a specified task Examples of using the run time services are provided in di Examples for Task Management Services Constants The following constants are used within the OSEK Operating System to indicate the task states e RUNNING The constant of data type TaskStateType for task state running e WAITING The constant of data type TaskStateType for task state waiting e READY The constant of data type TaskStateType for task state ready e SUSPENDED The constant of data type TaskStateType for task state suspended These constants can be used for the variables of TaskStateType The following constant is used within the OSEK OS to indicate the task e INVALID_TASK The constant of data type Task Type for an undefined task Conventions Within the OSEK OS application a task should be defined according to the following pattern TASK TaskName TR 38 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Task Management Programming Issues The name of the task function will be generated from TaskName by macro TASK OSEKturbo OS MPC5xx TR 39 For M
6. The highest value 15 of the SR PRIORITY attribute accords to the highest interrupt level 0 and vice versa the lowest value 0 of the SR PRIORITY attribute accords to lowest interrupt level 15 When an interrupt sharing vector offset OxYYY00500 external interrupt occurs its corresponding level is set in the interrupt request pending register Each bit represents one level hence up to 16 levels or sources are possible for MPC555 Individual interrupt levels are enabled and disabled by the interrupt mask register Setting a bit enables a source of the corresponding level to cause an actual interrupt clearing a bit disables the corresponding level Work Without Interrupt Dispatcher If user does not want to use the interrupt dispatcher he has to use the None value for InterruptDispatcher attribute and in this case it may be useful to incorporate additional statements connected with interrupt source determination directly into MPC interrupt vector table prior to ba lt nameISR gt call In this case it is user s responsibility to save restore affected registers between interrupt entry point and ba lt nameISR gt call In this case the PRIORITY values for all ISRs are no significance but it is recommended make it like in cases with One and Multi Level interrupt dispatcher It is possible to work without Interrupt Dispatcher if only one interrupt include System Second Timer but exclude DEC is used in applicationOne
7. o 102 11 System Configuration 105 Generale aio Gee AA A EE eth a 105 Application Configuration File a a a a 106 OIEConcepesi dina AA na 106 O File sio 4 36 ta Be oc DAA hit 106 Ol Format 2 a LI a le Dai o R eA 107 Implementation Definition 2 2 a ee 107 Implementation DefinitionGrammar 107 Application Definition ius lt asa 38 du dy ged ESS le 110 Object Definition a aa a 110 Include Directive a a Se ee ent 111 Comments ui 482 RR Ge oe Ste Re A 111 Pile Structure sto 6 4 acca Berk be Kaho wah Gre 111 Configuration File Rules 112 12 System Objects Definition 113 General 4 ara Ped ne i e A e ee nel 4 113 OS Demoni a dee la E Lee alata A a al 114 Global System Attributes a a a a 114 CPU Related Atiib tes 4 iisas dela ire e ce eae e a 116 Stack Related Attributes a 2 121 Task Related Attributes 00a 0a a a a a 122 Interrupt Related Properties sto Ge Ge ee ee a 123 Hook Routines Related Attributes 0a a a a a aa 124 Floating Point Related Attributes 2 0 2 2 048 126 Task Definition fe Ge Go a a 126 Attributes We Li ar a 127 ISR Definition y 20400 a a AAA eS A A 129 Attributes rune ia dea e ae ie a 129 Resource Definition a lan IA A a ara 133 Event Definition su dh e a e as il i 134 Attributen ai pi a a Gh Wi i A gi aE a a 134 Counter Definition 4 a a ad a a e e a 134 Attributes ca 135 TR 6 OSEKturb
8. TaskC is started here user s code release the TaskB resource ReleaseResource TASKB_res TaskB is started here user s code TerminateTask OSEKturbo OS MPC5xx TR 201 For More Information www freescale com System Services Freescale Semiconductor Inc Event Management Services TASK TASK TaskB user s code TerminatetTask TaskC user s code TerminateTask ISR SCI_handler user s code ISR can be disabled using a resource Event Management Services TR 202 Syntax Input Data Types The OSEK Operating System establishes the following data types for the event management e EventMaskType the data type of the event mask e EventMaskRefType the data type of the pointer to an event mask The only data types must be used for operations with events Event Declaration The declaration statement DeclareEvent may be used for compatibility with previous OSEK versions It may be omitted in application code DeclareEvent lt name of event gt lt name of event gt event name OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Event Management Services Description This is a dummy declaration Particularities There are no need for this declaration because all system obj
9. y COUNTER SecondCnt MAXALLOWEDVALUE TICKSPERBASE 1 MINCYCLE 1 36 ISR First Handler CATEGORY 2 PRIORITY 1 y TASK TaskCnt PRIORITY 1 SCHEDULER FULL AUTOSTART FALSE ACTIVATION 1 Following C language code shows how CounterTrigger can be used to increment counter OSEKturbo OS MPC5xx TR 215 For More Information www freescale com Freescale Semiconductor Inc System Services Alarm Management Services ISR First_Handler User s code CounterTrigger FirstCnt User s code TASK TaskCnt TickType cntl User s code CounterTrigger FirstCnt GetCounterValue FirstCnt amp cntl if cntl 0 CounterTrigger SecondCnt User s code Alarm Management Services Data Types and Identifiers The following data types are established by OSEK OS to work with alarms e TickType data type represents count values in ticks e TickRefType the data type of a pointer to the variable of data type TickType e AlarmBaseType the data type represents a structure for storage of counter characteristics The elements of the structure are maxallowedvalue maximum possible allowed counter value in ticks ticksperbase number of ticks required to reach a counter specific significant unit TR 216 OSEKturbo OS MPC5xx For More Inf
10. ostext TEXT os obj ostsk obj osisr obj osalm obj osctr obj osres obj osevt obj osmsg obj ossch obj osset obj ostrg obj Next take all CONST data osrodata CONST oilname obj os obj ostsk obj osisr obj osalm obj osctr obj osres obj osevt obj osmsg obj ossch obj osset obj ostrg obj gt os_rom OSEKturbo OS MPC5xx TR 157 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features General and Special Purpose Registers Usage General and Special Purpose Registers Usage NOTE Table 14 1 Stack Size TR 158 The Special purpose register 2 SPRG2 is used to save restore the basic stack pointer If FastScheduler attribute is set to TRUE then the general purpose registers r14 r15 r16 and r17 are used by OSEKturbo OS for global variables The register r17 is used only when there are more than 32 tasks configured In case when FastScheduleris set to TRUE and some source files or libraries do not include osapi h header file the compiler shall be prevented from the usage of these registers It may be done by including the file hwspec osregs h into source files If modification of source files is not possible then the compiler command line option shall be used Table 14 1 displays command line options for CodeWarrior and Diab Data compilers Register Reservation in User s Applications Compiler Command Line Metrowerks Addincl osregs h Diab
11. OSEKturbo OS MPC5xx TR 73 For More Information www freescale com Freescale Semiconductor Inc Counters and Alarms Programming Issues y SecondTimer SWCOUNTER COUNTER lt CounterName gt SRPRIORITY lt priority gt TimerHardware lt TypeOfTimer gt Prescaler OS Value lt PrescalerValue gt y TimerModuloValue lt TimerModuloValue gt y y TimeScale TRUE TimeUnit lt ticks ns us ms gt ScalePeriod lt timescale period gt Step SET StepNumber lt 1 2 3 gt StepTime lt time to next step gt TASK lt ID of task to activate gt y The system timer hardware parameters are described in detail in the section CPU Related Attributes To generate an alarm in an application the ALARM definition is used it looks like the following ALARM AlarmName COUNTER CounterName AUTOSTART FALSE ACTION SETEVENT TASK TaskName EVENT EventName y y TR 74 OSEKturbo OS MPC5xx For More Information www freescale com Table 7 1 NOTE Freescale Semiconductor Inc Counters and Alarms Programming Issues Detailed counter and alarm generation statements are described in Counter Definition and Alarm Definition The declaration statements DeclareCounter and DeclareAlarm may be used for compatibility with previous OSEK versions It may be omitted in application code DeclareCounter lt
12. The service may be called from an ISR category 1 and category 2 from alarm callbacks and from the task level but not from hook routines This service is intended to protect a critical section of code from interruptions of any kind This section must be finished by calling the ResumeAllInterrupts service No API service calls beside SuspendAllInterrupts ResumeAllInterrupts pairs and SuspendOSInterrupts ResumeOSInterrupts pairs are allowed within this critical section If ResumeAllInterrupts service was not called after this service and before point of rescheduling then OSEKturbo dispatcher calls ErrorHook if it is defined with parametr E_OS_SYS_ORDER e Standard None e Extended None BCC1 ECC1 ResumeOSinterrupts void ResumeOSInterrupts void None None This service restores the interrupts state saved by SuspendOSInterrupts service It can be called after SuspendOSInterrupts only This service is the counterpart of SuspendOSInterrupts service and its aim is the completion of the critical section of code No API service calls beside SuspendAllInterrupts ResumeAllInterrupts pairs and this is OSEKturbo extension of OSEK OS OSEKturbo OS MPC5xx TR 193 For More Information www freescale com System Services Freescale Semiconductor Inc ISR Management Services Particularities Conformance TR 194 Status Syntax Input Output Description SuspendOSInterrupts ResumeO
13. messages ReceiveMessage allowed for unqueued sa messages GetActiviveApplicationMode allowed allowed allowed allowed allowed StartOS 23 1 gt ShutdownOS allowed allowed GetRunningStackUsage allowed allowed allowed ES GetStackUsage allowed allowed allowed ca GetTimeStamp allowed allowed allowed It may happen that currently no task is running In this case the service returns the task Id INVALID_TASK NOTE hook routine OSEKturbo OS MPC5xx For More Information www freescale com It is not possible to call any OSEK OS services from dleLoopHook TR 97 Freescale Semiconductor Inc Error Handling and Special Routines Error Handling Error Handling Error Interface The hook routine ErrorHook is provided to handle possible errors detected by the OSEK Operating System Its basic framework is predefined and must be completed by the user This gives the user a choice of efficient centralized or decentralized error handling The special system routine ShutdownOS is intended to shut down the system in case of the fatal error ShutdownOS may be called by the user on experiencing a fatal error These service routine is provided by the OSEK Operating System as opposed to the ErrorHook routine which should be written by the user User hook ShutdownHook is called by ShutdownOS The OSEK OS ErrorHook is called with a parameter that specifies the error It is up to the u
14. Basic TASK cannot be notified by SETEVENT method Error If the referenced task has no events then ACTION attribute of ALARM and MESSAGE objects cannot be defined as SETEVENT TASK has no EVENT reference Information The referenced task is a basic one TASK to be notified shall be defined Error The TASK reference is not defined EVENT shall be defined for SETEVENT notification Error The EVENT reference shall be specified only if the ACTION attribute of the ALARM and MESSAGE objects is set as SETEVENT EVENT lt name gt does not belong to TASK lt name gt Warning The task has no event which is referenced by the EVENT reference of the ALARM object More than one TASK per priority is defined for lt class gt Warning Only one task per priority may be used in BCC1 and ECCI classes i e each task should have unique priority OSEKturbo OS MPC5xx TR 307 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 308 TD0085 TD0086 TD0098 TD0101 TD0107 TD0109 TD0110 Static stack size must be defined for Extended task Error The task is considered as extended if any event is referenced For extended tasks the stack size should be defined The STACKSIZE attribute of the TASK object should be defined Basic task doesn t require stack size Warning The value of the STACKSIZE attribute is ignored for basic task
15. CYCLETIME UINT32 The attribute defines the cycle time of a cyclic alarm The attribute should be defined if the AUTOSTART attribute is set to TRUE APPMODE reference The attribute defines an application mode for which the alarm shall be started automatically at system start up The attribute should be defined if the AUTOSTART attribute is set to TRUE It may be ommited if only one APPMODE is defined Message Definition This object is intended to present either a Unqueued or an Queued message Attributes of this object type define message properties Links with other system objects are defined via references The keyword MESSAGE is used for this object type Messages concept is described in section Communication The syntax of a message object definition is as follows MESSAGE lt name of MESSAGE gt TYPE lt QUEUED UNQUEUED gt QUEUEDEPTH lt integer gt CDATATYPE lt string gt ACTION lt ACTIVATETASK SETEVENT CALLBACK FLAG NONE gt TASK lt name of TASK gt EVENT lt name of EVENT gt CALLBACKNAME lt string gt FLAGNAME lt string gt y OSEKturbo OS MPC5xx TR 137 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition Message Definition Attributes The object has the following standard attributes e TYPE ENUM The attribute specifies type of the message In accordance with the OSEK specificati
16. External Interrupts Processing Background The Prescaler Value attribute specifies the value of RTDIV RTC and PIT clock divider and input source select bits of the SCCR System Clock Control Register The value of this attribute equal 0 accords to PIT clock divided by four The value equal to 1 accords to PIT clock divided by 256 The TimerModuloValue attribute provides value of Periodic Interrupt Timer Count PITC register and is used to determine periodic interrupt rate The Freeze attribute specifies timer freeze bit PITF value of the Periodic Interrupt Status and Control Register PISCR If this attribute equal TRUE it means that PITF is set and the PIT stops while FREEZE is asserted It may be used during the application debugging if this attribute has value TRUE timer will be frozen during interrupt processing in the debug mode The RTSEL attribute specifies clock source for PIT timer SCCR RTSEL bit The EXTCLK value means that external clock will be used as clock source the OSCM value means that the main crystal oscillator will be used as clock source This attribute shall have same value for System and Second timers if they are PIT and RTC TR 168 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features RTC based System Second Timer The ISRPRIORITY attribute specifies the periodic interrupt request level This att
17. InitCounter DgrCnt 0 initialize the counter this alarm will awake this task SetRelAlarm AWAKE 20 O WaitEvent b_ev waiting for one of two events The task will be ready again when one of two events are set One of them DgrAlmEvent will be set by the alarm AWAKE after 20 ticks of the counter DgrCnt Thus the task can delay itself TR 208 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Counter Management Services ClearEvent b_ev clear all events GetEvent TASK_A amp a_ev get events of TASK_A if a_ev amp ExtEventl 0 a_ev ExtEvent2 SetEvent TASK_A a_ev set the event ExtEvent2 for TASK_A TASK TASK_C Basic task TASK_C EventMaskType bb set set ExtEvent2 GetEvent TASK_B amp bb if the event ExtEvent2 for TASK_B is clear set it if bb amp ExtEvent2 0 SetEvent TASK_B set Counter Management Services Data Types and Identifiers The following data types are established by OSEK OS to work with counters e TickType the data type represent count value in ticks e TickRefType the data type of a pointer to the variable of data type TickType e CtrRefType the data type references a counter e CtrInfoRefType the data type of a pointer to the structure
18. Particularities TR 204 ClearEvent StatusType ClearEvent EventMaskType lt Mask gt lt Mask gt an event mask to be cleared None The task which calls this service defines the event which has to be cleared The system service ClearEvent can be called from extended tasks which own an event only This service is not implemented if no events are defined in the configuration file e Standard E OK no error e Extended E_OS_ACCESS the calling task is not an Extended Task E_OS_CALLEVEL a call at the interrupt level is not allowed ECC1 GetEvent StatusType GetEvent TaskType lt TaskID gt EventMaskRefType lt Event gt lt TaskID gt a reference to the task whose event mask is to be returned lt Event gt a pointer to the variable of the return state of events The event mask which is referenced to in the call is filled according to the state of the events of the desired task Current state of events is returned but not the mask of events that task is waiting for It is possible to get event mask of the running task task caller The referenced task must be an extended task and it can not be in suspended state OSEKturbo OS MPC5xx For More Information www freescale com Status Conformance Syntax Input Output Description Particularities Status Freescale Semiconductor Inc System Services Event Management Services The serv
19. Error The minimum bound in the value range defined for the attribute in OIL file and in the corresponding implementation definition file is inconsistent Wrong maximum value Error The maximum bound in the value range defined for the attribute in OIL file and in the corresponding implementation definition file is inconsistent Attribute must have range Error The value range defined for the attribute in the implementation definition file is absent for this attribute in the appropriate OIL file Wrong ENUM value Error The value list defined for the attribute in OIL file and in the corresponding implementation definition file is inconsistent OSEKturbo OS MPC5xx TR 303 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages ORS029 OR5030 OR5031 OR5032 Some ENUM values are not defined for attribute Error Some of the values defined for the attribute in the implementation definition file is absent for this attribute in the appropriate OIL file Unknown container type Error The application definition specifies a container type that was not defined Unknown section Error The application definition specifies a section that was not defined for OIL 2 0e Unknown implementation Error The application definition specifies an implementation that was not defined for OIL 2 0e OR5050 Attribute must not have NO_DEFAULT v
20. ISR attributes e Number of ACCESSOR definition and all subattributes of ACCESSOR MESSAGE ACCESSNAME COUNTER attributes e MINCYCLE e MAXALLOWEDVALUE e TICKSPERBASE ALARM attributes e COUNTER e The ACTION subattributes TASK EVENT ALARMCALLBACKNAME MESSAGE attributes e CDATATYPE OSEKturbo OS MPC5xx TR 151 For More Information www freescale com Freescale Semiconductor Inc Building of Application Sample Application e The following ACTION subattributes TASK EVENT CALLBACKNAME Sample Application In Sample Application the code of an OSEK OS based application is provided This code is a simple demonstration of Operating System mechanisms It also demonstrates how to write the configuration file and source code TR 152 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 14 PowerPC Platform Specific Features This chapter discusses special OSEK OS features for different MCU types and issues connected with porting applications to these MCUs This chapter consists of the following sections e Compiler Specific Features e General and Special Purpose Registers Usage e Stack Size e MPC555 Features e MPC565 563 561 Features Compiler Specific Features The following tools should be used to build OSEK OS applications e D CC v 5 0a for PowerPC e Metrowerks C C Compiler for Embedded PowerPC version 3 0 4 Used Library
21. Number of COUNTERS exceeds 254 Error Number of COUNTER objects defined in system is restricted by 254 OSEKturbo OS MPC5xx TR 317 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 318 TD805 TD806 ALARMTIME for autostarted alarm can not be more than MAXALLOWEDVALUE of COUNTER Error The value of the AUTOSTART ALARMTIME attribute of the ALARM object shall be less than the value of the MAXALLOWEDVALUE attribute of the COUNTER object CYCLETIME for autostarted alarm shall be more than MINCYCLE and less than MAXALLOWEDVALUE of COUNTER Error The value of the AUTOSTART CYCLETIME attribute of the ALARM object shall be more than the value of the MINCYCLE attribute and less than the value of the MAXALLOWEDVALUE attribute of the COUNTER object TD0807 Number of APPMODES exceeds 8 Error Number of APPMODE objects defined in system is restricted by 8 TD0808 APPMODE attribute shall be defined TD1500 TD1501 Error The APPMODE attribute shall be defined for TASK ALARM with AUTOSTART TRUE if there are more than one APPMODE defined in application Prescaler value of lt name gt timer for lt name gt MCU cannot be more than lt number gt Error MCU manufacturer reserves values of the prescaler Prescaler value 0 means RTI timer is OFF Error If the RTI timer is not used then you should disable this timer OSEKturbo O
22. Status Conformance Syntax Input Output Description Particularities Status Conformance Syntax Input Output Description Freescale Semiconductor Inc System Services Communication Management Services None This routine initializes all application specific message objects This function is provided by the application programmer and is called by the StartCOM routine only E_OK if the initializationinitialization of the application specific message object has completed successfully The service returns an implementation or application specific error code if the initialization did not complete successfully BCC1 ECC1 ReadFlag FlagValue ReadFlag FlagType lt FlagName gt lt FlagName gt message flag name FlagValue state of the flag lt FlagName gt This service returns the value of the specified notification flag This service returns 0 if the flag is not set i e message has not arrived e Standard and Extended TRUE the flag is set by arrived message FALSE the flag is not set BCC1 ECC1 ResetFlag StatusType ResetFlag FlagType lt FlagName gt lt FlagName gt message flag name None This service set the specified notification flag to FALSE OSEKturbo OS MPC5xx TR 233 For More Information www freescale com System Services Freescale Semiconductor Inc Communication Management Services Particularities Status Con
23. The predefined attributes CONTAINER and SECTION are already defined for OIL2 0e OSEKturbo OS MPC5xx TR 295 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 296 OR0025 OR0026 OR0027 OR0028 OR0029 OR0030 OR0031 OR0032 OR0033 Standard object lt name gt is not defined Error The implementation definition must contain all standard objects Standard attribute lt name gt is not defined Error The implementation definition must contain all standard attributes Standard attribute must have WITH_AUTO specifier Error This attribute definition does not correspond to OIL standard Standard attribute must have specifier Error This attribute definition does not correspond to OIL standard Standard attribute must not have specifier Error This attribute definition does not correspond to OIL standard Standard attribute must have range Error This attribute definition does not correspond to OIL standard Standard attribute range cannot be expanded Error This attribute definition does not correspond to OIL standard The value range for standard attributes may be restricted but not expanded Standard attribute must have ENUM value list Error This attribute definition does not correspond to OIL standard Standard dependent attributes are expected Error According to OIL standar
24. chapter provides a description of scheduling policies in OSEK OS Interrupt Processing chapter highlights the OSEK approach to interrupt handling Resource Management chapter describes resource management and task coordination by resources Counters and Alarms chapter describes usage of these control mechanisms in OSEK OS Events chapter is devoted to event management and task coordination by events The term OSEK means Open systems and the corresponding interfaces for automotive electronics in German A real time operating system software interfaces and functions for communication and network management tasks are thus jointly specified within the OSEK standard OSEKturbo OS MPC5xx TR 13 For More Information www freescale com Introduction TR 14 Freescale Semiconductor Inc Communication chapter describes a message concept in OSEK and its usage di Error Handling and Special Routines chapter describes support provided for the user to debug an application and handle errors System Configuration chapter describes possible OSEK OS versions configuration options and the configuration mechanism System Objects Definition chapter describes the objects controlled by the Operating System tasks resources alarms messages counters ISRs and even the OS itself are considered as system objects di Building of Application chapter contain
25. e OxFFFF if the task is basic uses single stack The service returns stack usage by task lt TaskID gt in bytes The service is implemented if the value of the StackOverflowCheck attribute is set TRUE or the value of the DEBUG_LEVEL attribute is greater than 0 The service call is allowed on task level ISR level and in ErrorHook PreTaskHook and PostTaskHook hook routines BCC1 ECC1 GetTimeStamp unsigned short GetTimeStamp void None System Counter current value The service returns current value of the System Counter the counter which is attached to the System Timer The service is implemented if the value of the DEBUG_LEVEL attribute is greater than 0 and the System Timer is defined in the application The service call is allowed on task level ISR level and in ErrorHook PreTaskHook and PostTaskHook hook routines BCC1 ECC1 Operating System Execution Control TR 238 Data Types The OSEK OS establishes the following data type for operation mode representation e StatusType the data type represent variable for saving system status e AppModeType the data type represents the operating mode OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Operating System Execution Control Constants The following constant is used within the OSEK OS to indicate default application mode e OSDEFAULTAPPMODE constant of data type AppMode
26. or alarm cycle value is unequal to 0 and outside of the admissible counter limits less than the minimum cycle value of the counter or greater than the maximum allowed value of the counter Conformance e BCC1 ECC1 CancelAlarm Syntax StatusType CancelAlarm AlarmType lt AlarmID gt Input lt AlarmID gt a reference to the alarm Output None Description The service cancels the alarm transfers it into the stop state Particularities The service is allowed on task level and in ISR but not in hook routines This service is not implemented if no alarms are defined in the configuration file Status e Standard E_OK no error E_OS_NOFUNC the alarm is not in use e Extended E_OS_ID the alarm identifier is invalid Conformance BCC1 ECC1 OSEKturbo OS MPC5xx TR 221 For More Information www freescale com System Services Freescale Semiconductor Inc Alarm Management Services Syntax Input Output Description Particularities Status Conformance Syntax Input Output Description Particularities Status TR 222 StartTimeScale void StartTimeScale void None None The service starts a TimeScale processing The first Task in TimeScale is activated immediately the subsequent tasks are activated in according with StepTime and StepNumber values Allowed on task level only The StartTimeScale service is not defined in the OSEK VDX
27. 4 6 8 4 10 16 22 TBO TB1 10 12 14 10 12 14 28 34 40 46 When both timers are HWCOUNTER and TimerHardware are equal to TBO and TBI this attribute shall be equal for both timers because it configures the same interrupt service routine Period UINT32 This OSEKturbo specific attribute specifies period of a tick of the system second counter in nanoseconds This attribute can be defined inside the scope of the SysTimer and SecondTimer attributes if these attributes are set SWCOUNTER or HWCOUNTER The Period attribute shall be defined if the corresponded Prescaler Value or and TimerModuloValue is AUTO This attribute is ignored if corresponded Prescaler Value and TimerModuloValue are not AUTO OSTICKDURATION and OSTICKDURATION2 constants are calculated from the SysTimer Period value or SecondTimer Period value respectively if any of corresponding Prescaler Value and TimerModuloValue is AUTO Otherwise OSTICKDURATION and OSTICKDURATION2 are calculated from the values of the corresponding Prescaler Value and TimerModuloValue attributes e TimerHardware ENUM This OSEKturbo specific attribute is intended to select the hardware interrupt source for the system counter or the second counters among the accessible MCU devices This attribute inside the SysTimer and SecondTimer attributes can be defined if the values of these attributes are HWCOUNTER or SWCOUNTER only The possible values for SWCOUNTER are PIT DEC RTC
28. AC IVATETASK defined conitial sage with ACTION CALLBACK defined Initial Resource for task defined Changed ISR category 2 defined Changed InterruptDispatcher OneLevel Changed Resource referenced by ISR BCC1 13 1 T 624 5 T 13 1 T 584 5 T 13 1 T 640 5 T 101 88 T 1300 8 T 102 88 T 1712 8 T 107 88 T 1916 8 T 13 1 T 8 C 880 5 T 8 C 13 1 T 12 C 20 A 1840 5 T 8 C 2 A 13 1 T 16 M 1004 5 T 12 M 13 1 T 20 M 1168 5 T 16 M 13 1 T 20 M 1140 5 T 16 M 105 92 T 8 R 1152 8 T 1 R 106 92 T 8 R 1616 8 T 1 R 122 92 T 8 R 1940 8 T 1 R 126 92 T 12 R 2136 8 T 1 R TR 284 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Table C 2 Memory Requirements Data Sheet for CodeWarrior Operating System Memory Requirements CodeWarrior Num ber System Properties configuration Confor mance Class RAM ROM 15 Initial 16 Initial an event defined 17 Changed SCHEDULE NON tor all tasks 18 Initial an event defined SCHEDULE NON for one task and FULL for other one 19 Changed STATUS E EXTENDED 20 Changed ERRO TRUE 21 Changed USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE 22 Initial an event defined Counter defined 23 Change
29. Conformance ECC1 Examples of Using Events The example below shows how events can be used in the OSEK Operating System The following definitions can be made in the definition file TASK TASK_A PRIORITY 3 SCHEDULE FULL AUTOSTART TRUE ACTIVATION 1 STACKSIZE 256 EVENT ExtEventl EVENT ExtEvent2 EVENT XEvent EVENT YEvent EVENT Z1_FLG EVENT Z2_FLG y TASK TASK_B PRIORITY 2 SCHEDULE FULL AUTOSTART FALSE ACTIVATION 1 STACKSIZE 256 EVENT DgrAlmEvent EVENT ExtEvent2 y TASK TASK_C PRIORITY 1 SCHEDULE FULL AUTOSTART TRUE TR 206 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Event Management Services ACTIVATION 1 y COUNTER DgrCnt MAXALLOWEDVALUE 150 TICKSPERBASE 1 MINCYCLE 1 y ALARM AWAKE COUNTER DgrCnt ACTION SETEVENT TASK TASK_B EVENT DgrAlmEvent y y external events for TASK_A EVENT ExtEventl MASK 0x02 internal events for TASK_A EVENT XEvent MASK 0x80 EVENT YEvent MASK 0x40 EVENT Z1_FIG MASK 0x20 EVENT Z2_FLG MASK 0x10 event for TASK_B EVENT DgrAlmEvent MASK 0x01 this
30. ISR Categories for Interrupt Service Routine Categories details e PRIORITY UINT32 The attribute specifies priority of the interrupt service routine Allowed values for MPC555 applications are 0 16 if InterruptDispatcher value is OneLevel or MultiLevel In this case all ISR objects have to have the different value of the PRIORITY attribute All ISRs which intended for not external interrupt handling have to have PRIORITY 16 for MPC555 For MPC565 563 561 the range depends on the InterruptDispatcher value If the InterruptDispatcher attribute is OneLevel or MultiLevel then the PRIORITY value range is from 0 to 16 If the InterruptDispatcher attribute is Enhanced the range is from 0 to 48 OSEKturbo OS MPC5xx TR 129 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition ISR Definition NOTE Table 12 1 TR 130 The value of this attribute has no significance if the InterruptDispatcher attribute has value None This attribute value is connected with interrupt controller s interrupt levels Regular Interrupt Controller Operation Each one of the SIU interrupt sources such as PIT and RTC as well as the interrupt requests generated by the IMB3 modules can be assigned to any of the Level 0 7 Each of the external pins IRQ 0 7 has its own dedicated assigned priority level The accordance of the ISR PRIORITY to the interrupt sources in the interrupt controller for
31. The Freeze attribute specifies Time Base Freeze bit TBF value of the Time Base Control and Status Register TBSCR If this attribute equal TRUE the time base and decrementer stop while FREEZE is asserted It may be used during the application debugging If this attribute has value TRUE timer will be frozen during processing of breakpoint in the debugger System and Second Timers If both System and Second timers are used in the application and DEC timer is not used DEC uses separate vector then the interrupt dispatcher shall be used otherwise it is user s responsibility to define which external interrupt occurred and call appropriated interrupt handler including OSISRSystemTimer and OSISRSecondTimer roots Example of Timers Configuration For example to configure a system timer as a Hardware counter with 1000ns tick duration and the 1ms 1kHz second timer as a Software counter on an MPC555 with 4MHz crystal and 40MHz CPU frequency the following attributes may be set in the OIL file OS OsName OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC565 563 561 Features ClockFrequency 4000 oscillator frequency ClockMultiplier 10 C S lockDivider 1 ysTimer HWCOUNTER COUNTER CounterNamel SRPRIORITY 10 TimerHardware TIMTBO Period 1000 Prescaler OS Value AUTO y y y Seco
32. This attribute shall have same value for System and Second timers if they are PIT and RTC e HCLowPower BOOLEAN This OSEKturbo specific attribute defines that low power mode shall be used when there is no ready or running tasks and scheduler goes into idle loop In general it is recommended to define this attribute to reduce power consumption Stack Related Attributes These attributes define stack support in the system The attributes should be defined inside the scope of the OS object in accordance with the following syntax default attribute value are shown in bold type IsrStackSize lt integer gt StackOverflowCheck lt TRUE FALSE gt e IsrStackSize UINT32 This OSEKturbo specific attribute specifies the ISR stack size in bytes The stack is used in ISRs category 2 In this case the current status of the processor is saved onto the current stack and stack is switched to the interrupt stack This stack should be big enough to hold all nested interrupt stack frames in the system This attribute shall be defined if any ISR category 2 include system or second timer are defined and Extended tasks are present in the configuration Otherwise single stack is used for Basic tasks and ISRs and this attribute is ignored e StackOverflowCheck BOOLEAN This OSEKturbo specific attribute turns on stack overflow runtime checking and stack usage services If this attribute is switched on ErrorHook is defined and OS det
33. a a a a a a Data IypeS 00 e Galli del dea A gta FA a A Constants we a ly e we di BY oo es e BP ae A E GetActiveApplicationMode 2 2 ee en SOS Fe axe An ih ig vite Ge Ge yD ae Raiti ShutdownOS s eta Me ee Phe dn ome ae ae ee Mee ae Ae cas Se Ge OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Contents Hook Routines dla A hh ae a ds 241 EtrorHooks ena go asd a eee oe baie e RI AL Swe eB 241 Pre Task HOOK 3504 MF asso A OE RA 242 PostlaskHOOK 0 sa edi ee as eee Hee Be we ee 242 StartupHook e a SOAS La 243 ShutdownHook LL 244 IdleLoopHook Ec aloni A A a 244 17 Debugging Application 247 General kes ods di we ce he rie A 247 Extended PALS s si RO e a ea e HR 247 ORI tg A A a ER nt 247 Stack Debugging Support 250 Using OS Extended Status for Debugging 250 Context Switch Monitoring Y a ye Qe ae oP a Ge St 250 ORTIFEeatates 0 ca tr oe Ag a gar e dee ee beng i el 251 ORTI Trace Interfaces dai e AA 251 ORTI Breakpoint Interface 4 pcan a dS a e 253 Stack Debugging Support 2 2 o o 258 Stack labels urico a a en a 258 Stack Overflow Checking o 0a a a 258 A Sample Application 261 Description rd Ss che wh a per Ss ce hy Se 261 Source Files 3 ha veli en BA ae es A Ee cs 263 B System Service Timing 267 General Notes 4 2235 E m art AG
34. definition see ISR Definition and for interrupt vector definition see Interrupt Vector Table ISR Definition To define common ISR parameters like ISR stack size the corresponding OS properties should be specified in the configuration file Definition of Interrupt related properties looks like OS lt name gt IsrStackSize 256 Definition of specific ISR object looks like ISR Handler PRIORITY 8 CATEGORY 2 RESOURCE ISRresource ACCESSOR RECEIVED MESSAGE messageA ACCESSNAME hy y myBuffer TR 54 See ISR Definition for details OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Interrupt Processing Programming Issues Interrupt Vector Definition To provide starting ISR routine during interrupt at run time the interrupt vector shall be defined and added to interrupt vector table see Interrupt Vector Table OSEKturbo OS MPC5xx TR 55 For More Information www freescale com Freescale Semiconductor Inc Interrupt Processing Programming Issues TR 56 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 6 Resource Management This chapter describes resource management and task coordination by resources This chapter consists of the following sections e General e Access to Resources e Progra
35. even if such claim alleges that Motorola was negligent regarding the design or manufacture of the part Motorola and B are registered trademarks of Motorola Inc Motorola Inc is an Equal Employment Opportunity Affirmative Action Employer Legal Notices The information in this document has been carefully checked and is believed to be entirely reliable however no responsibility is assumed for inaccuracies Furthermore Motorola reserves the right to make changes to any products herein to improve reliability function or design Motorola does not assume liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights or the rights of others The software described in this document is furnished under a license agreement The software may be used or copied only in accordance with the terms of the agreement No part of this publication may be reproduced or transmitted in any form or by any means graphic electronic electrical mechanical chemical including photocopying recording in any medium taping by any computer or information storage retrieval systems etc without prior permissions in writing from Motorola Inc Permission is granted to reproduce and transmit the Problem Report Form the Customer Satisfaction Survey and the Registration Form to Motorola Important Notice to Users While every effort has been made to ensure the accuracy of all in
36. must be defined Error The standard parameters and attributes with NO_DEFAULT specifier defined in implementation definition must be defined in the application definition except references Dependent NO_DEFAULT attribute is defined in the default branch of his parent Error The implementation definition must not have attributes with the default value that contain subattributes with NO_DEFAULT specifier Standard attribute must not have WITH_AUTO specifier Error This attribute definition does not correspond to OIL standard Object is already defined with different type Error The given name has already been used for a system object of the other type lt type gt object must be defined Error The OS or APPMODE object cannot be missed in OIL file Only one lt type gt object can be defined Error Only one OS object can be defined Implementation is already defined Error Only one implementation can be defined in OIL file CPU is already defined Error Only one CPU container can be defined in OIL file OSEKturbo OS MPC5xx TR 299 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages OR0061 No CPU in the file Error CPU container must be defined in OIL file OR0062 Include directive within object is not allowed Error The include directive s cannot be placed inside object definition OR0063 Related item
37. types can be parameterized i e the particular enumerators can have parameters The parameter specification is denoted in curly braces after the enumerator Any kind of attribute type is allowed as parameter of an enumerator e BOOLEAN The attribute of this type can have either TRUE or FALSE value BOOLEAN types can be parameterized i e the particular boolean values can have parameters Parameter specification are denoted in curly braces after an explicit enumeration of the boolean values Any kind of attribute type is allowed as parameter of a boolean value e STRING Any 8 bit character sequence enclosed in double quotes but not containing double quotes can be assigned to this attribute A reference is a special type of value intended to define links between system objects The reference definition has the following structure lt object_type gt lt reference_name gt lt multiple_specifier gt The reference type is taken from the referenced object e g a reference to a task shall use the TASK_TYPE keyword as reference type A reference can point to any system object Multiple reference is the possibility to refer to several objects of the same type with one OIL statement For example the task can refer to several events If the reference shall be defined as a multiple reference then the brackets shall be present after the reference name OSEKturbo OS MPC5xx TR 109 For More Information www freesca
38. APPMODE lt name of APPMODE gt y ACTIVATION lt 1 gt STACKSIZE lt integer gt RESOURCE lt name of RESOURCE gt EVENT lt name of EVENT gt ACCESSOR lt SENT RECEIVED gt MESSAGE lt name of MESSAGE gt WITHOUTCOPY lt TRUE FALSE gt ACCESSNAME lt string gt y Attributes The TASK object has the following attributes e PRIORITY UINT32 The attribute specifies priority of the task The value of this attribute has to be understood as a relative value this means the values of the PRIORITY attribute show only the relative ordering of the tasks OSEK defines the lowest priority as zero 0 the bigger value of the PRIORITY attribute corresponds to the higher priority The value range is from 0 to Ox7FFFFFFF e SCHEDULE ENUM The attribute specifies the run time behavior of the task If the task may be preempted by another one at any point of execution this task attribute shall have the FULL value preemptable task If the task can be preempted only at specific points of execution explicit rescheduling points the attribute shall have the NON value non preemptable task e AUTOSTART BOOLEAN The attribute determines whether the task is activated during the system start up procedure or not OSEKturbo OS MPC5xx TR 127 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition Task Defi
39. CC i osregs h Generally the recommended minimal task stack size equals e 200 bytes for simplest preemptive tasks e 300 bytes for more complex preemptive tasks with task event message manipulation e 400 bytes for complex preemptive tasks task event message manipulation interrupts Stack Usage for OS Services The task stack usage depends on services called in the task and usage of ISRs in the application Data from the tables below can be used for the rough estimation of task and ISR stack size OSEKturbo OS MPC5xx For More Information www freescale com Table 14 2 Freescale Semiconductor Inc PowerPC Platform Specific Features Stack Size The values given in the Table 14 2 are measured for the typical application configuration for OSEKturbo OS MPC5xx compiled with CodeWarrior and Diab Data compilers OSEK is a highly scalable RTOS and most of these values depend on configuration Stack Usage for OS Services Stack in bytes System service CC CodeWarrior Diab CC ActivateTask with rescheduling ECCI 48 64 Terminate Task BCC1 32 32 Terminate Task ECCI 32 32 ChainTask BCC1 32 32 ChainTask ECCI 32 32 Schedule with rescheduling ECCI 32 32 GetTaskld BCC1 0 0 GetTaskState BCC1 0 32 EnableAlllnterrupts BCCI 0 0 DisableAlllnterrupts BCCI 0 0 ResumeAllInterrupts BCCI 0 16 SuspendAllInterrupts
40. Functions OSEKturbo OS itself does not use any functions from compilers run time libraries except memcpy and memset Compiler Issues Installation procedure defines environment variable values in batch files which is used for sample compilation If they were not set during installation the user should do it manually to compile sample These variables are the following OSEKturbo OS MPC5xx TR 153 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features Compiler Specific Features OSEKDIR path path to the OSEK directory SYSGENDIR path path to the System Generator directory CWDIR path path to the CodeWarrior compiler DIABDIR path path to Diab Data compiler See the makefile in the SAMPLE STANDARD directory for additional information User should use special compiler options for compiling OSEK OS modules NOTE Itis recommended to use compiler linker options list as it is set in the sample makefiles Using of the other compiler options may lead to possible compiling linking problems Therefore in order to escape such problems and be sure that proper code to be generated please refer to makefiles for exact option list Options for Diab Data Software Options for D CC Compiler The following D CC compiler options should be used for compiling all OSEK OS C source modules c D OSDIABPPC tPPC555E lt FPsupport gt simpl Xnes
41. Level Interrupt Dispatcher When an interrupt s occur Interrupt Dispatcher in the One Level mode calls the interrupt handler which corresponds to the interrupt OSEKturbo OS MPC5xx TR 165 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features TR 166 NOTE of highest level among pending interrupts All interrupts are disabled during interrupt processing All ISR definition in the oil file shall have different values of the PRIORITY attribute in accordance with Table 14 4 ISR which is intended for the non external interrupt DEC for instance processing shall have the highest priority 16 for MPC555 Multilevel Interrupt Dispatcher OSEKturbo OS emulates multilevel interrupts by manipulating interrupt mask register bits Multilevel Interrupt Dispatcher works as one level dispatcher but interrupts so interrupts of higher levels are enabled After Interrupt processing ends the saved original interrupt mask is restored During interrupt processing all interrupts of higher levels are enabled and all interrupts of same and lower levels are disabled It is impossible to manipulate with separate bits of the interrupt mask when Multilevel Interrupt Dispatcher is used All ISR definition in the OIL file shall have different values of the PRIORITY attribute in accordance with Table 14 4 ISR which is intended for the non external interrupt DEC for instance processin
42. MINCYCLE TRUE N 1 aS MAXALLOWE DVALUE 24 TICKSPERB ASE 1 MESSAGE Temp TYPE UNQUEUED CDATATYPE ACTION y MESSAGE Wrn char NONE TYPE UNQUEUED CDATATYPE MSGCTYPE ACTION NONE 5 SR ISR1_handler CATEGORY 1 PRIORITY 8 y SR ISR2_handler CATEGORY 2 PRIORITY 6 The C language code can be the following char CREG DREG char datal TR 196 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Resource Management Services ISR category 1 SR SR1l_ handler if CREG else CREG DREG OxCO CREG 0x40 0x03 datal TaskStateType stateB ISR category 2 SR SR2_ handler CounterTrigger Ctrl GetTaskState TaskB amp stateB if stateB SUSPENDED ActivateTask TaskB Resource Management Services Data Types The OSEK OS establishes the following data type for the resource management e ResourceType the abstract data type for referencing a resource The only data type must be used for operations with resources Constants e RES_SCHEDULER constant of data type ResourceType corresponded to Scheduler Resource see Scheduler as a Resourc
43. MPC555 is shown in following table ISR Priority and Interrupt Sources for MPC555 ISR PRIORITY Interrupt sources 15 IRQO 14 Level 0 13 IRQ1 12 Level 1 11 IRQ2 10 Level 2 9 IRQ3 8 Level 3 7 IRQ4 6 Level 4 5 IRQ5 4 Level 5 3 IRQ6 2 Level 6 1 IRQ7 0 Level 7 For more detailed information about MPC555 interrupt controller see MPC555 User s Manual OSEKturbo OS MPC5xx For More Information www freescale com Table 12 2 Freescale Semiconductor Inc System Objects Definition ISR Definition ISRs which have interrupt source beside interrupt controller have to have PRIORITY 16 for MPC555 Enhanced Interrupt Controller The enhanced interrupt controller operation may be turned on for MPC565 563 561 In this mode the 32 IMB interrupt levels will be latched by USIU using eight IMB interrupt lines and two lines of ILBS via time multiplexing scheme defined by the UIMB module In addition to the IMB interrupt sources the external interrupts and timer interrupts are available by the same way as in the regular scheme Table 12 2 is asummary of interrupt sources and levels for MPC565 563 561 and according ISR PRIORITY attribute value ISR Priority and Interrupt Sources for MPC565 563 561 ISR PRIORITY Interrupt sources 47 EXT_IRQ0 46 Level 0 45 IMB_IRQ 0 44 IMB_IRQ 1 43 IMB_IRQ 2 42 IMB
44. OSEK directory and compiler software are known The makefiles were written for Microsoft Visual C 5 0 or v 6 0 nmake utility and for GNU make from Cygwin package v 1 3 9 utility Run the MSMAKE BAT or GNUMAKE BAT from DOS prompt to build the executable file To build sample application for CodeWarrior compiler run batch file with codewarrior parameter gt MSMAKE codewarrior To build sample application for Diab Data compiler run batch file with diab parameter gt MSMAKE diab By default Sample application exception table is located at 0x00000000 address Therefore correct MSR value MSR IP bit is cleared should be set prior to initial StartOS call If exception table TR 264 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Sample Application Source Files is located at Oxffffffff address MSR IP bit should be set prior to initial StartOS call and Sample makefile s should be adjusted accordingly the address of vect section in the linker script See the samplerv c file for detail Makefile uses the system environment variables DIABDIR and CWDIR to get compiler components OSEKDIR to get OSEK components and SYSGENDIR to get SysGen shared components When all produced files are ready the executable file can be load into the Evaluation board and run OSEKturbo OS MPC5xx TR 265 For More Information www freescale com Freescale Semiconductor Inc Sample
45. Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS e Standard None e Extended None BCC1 ECC1 StopTimeScale void StopTimeScale void None None The service cancels a TimeScale processing by disabling interrupts from the system timer Allowed on task level on ISR level and in all hook routines The StopTimeScale service is not defined in the OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS e Standard None e Extended OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Alarm Management Services None Conformance BCC1 ECC1 Examples for Alarm Management The example shows how counters and alarms can be used For examples of TimeScale using see OSEKturbo User s Guide 3 8 TimeScale Also the sample application can be used as an example for TimeScale The following definitions are made in the definition file TASK TaskTime PRIORITY 3 SCHEDULE FULL AUTOSTART FALSE ACTIVATION 1 y TASK TASK_B PRIORITY 2 SCHEDULE FULL AUTOSTART TRUE ACTIVATION 1 STACKSIZE 256 EVENT DgrAlmEvent y TASK TASK_X PRIORITY 1 SCHEDULE FULL AUTOSTART TRUE ACTIVATION 1 y COUNTER TimeCnt MAXALLOWEDVALUE TICKSPERBASE 1 MINCYCLE 1
46. Sets relative alarm SetAbsAlarm Sets absolute alarm CancelAlarm Cancels alarm SendMessage Sends an unqueued message in WithCopy configuration to the specified task ReceiveMessage Delivers data of an unqueued message in WithCopy configuration to the application message copy GetRunningStackUsage Gets amount of stack used by running task GetStackUsage Gets amount of stack used by certain task GetTimeStamp Gets current value of system counter This service is not defined in the OSEK VDX Operating System v 2 2 10 September 2007 specification Conventions Within the application an Interrupt Service Routine should be defined according to the following pattern ISR y ISRName gt The keyword ISR is the macro for compiler specific interrupt function modifier which is used to generate valid code to enter and exit ISR 1 OSEK VDX does not specifies using of keyword ISR for ISRs of category 1 it is OSEKturbo specific for this category OSEKturbo OS MPC5xx TR 53 For More Information www freescale com Freescale Semiconductor Inc Interrupt Processing Programming Issues The constructional statement DeclareISR declares ISR function It may be useful in vector file if it does not include OS configuration file DeclareISR looks like the following DeclareISR lt name of ISR gt The same name shall be used for corresponding ISR object
47. System Services ISR Management Services This service is intended to control only the EE bit in the Machine State Register MSR This service does not support nesting e Standard None e Extended None BCC1 ECC1 DisableAllInterrupts void DisableAllInterrupts void None None This service saves the current interrupts state and disables all hardware interrupts This service is intended to start a critical section of the code This section must be finished by calling the EnableAllInterrupts service No API service calls are allowed within this critical section The service may be called from an ISR and from the task level but not from hook routines This service is intended to control only the EE bit in the Machine State Register MSR This service does not support nesting e Standard None e Extended None BCC1 ECC1 ResumeAllinterrupts void ResumeAllInterrupts void OSEKturbo OS MPC5xx TR 191 For More Information www freescale com Freescale Semiconductor Inc System Services ISR Management Services Input None Output None Description This service restores the recognition status of all interrupts saved by SuspendAllInterrupts service Particularities The service may be called from an ISR category 1 and category 2 from the alarm callbacks and from the task level but not from hook routines This service is the counterpart of
48. The StepNumber attributes shall have the unique values One action has to be specified Error Only one ACTION attribute has to be defined for the MESSAGE object in CCCB class Sum of step times is not equal to ScalePeriod Warning The value of the ScalePeriod attribute does not correspond to sum of values of StepTime attributes One OS APPMODE shall be defined Error One object of OS and at least one APPMODE types shall be defined in an application TimeScale works only when SysTimer is HWCOUNTER Error The TimeScale attribute and its subattributes can be defined only if the SysTimer attribute has HWCOUNTER value TimeScale cannot work on COUNTER which is referenced by ALARM Error Since the system timer and alarm cannot use the same counter in case of TimeScale mechanism using the SysTimer attribute of OS objects and ALARM objects cannot have the COUNTER attribute with the same value OSEKturbo OS MPC5xx TR 309 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TD0120 ResourceScheduler is FALSE but RES_SCHEDULER is defined Definition ignored Warning RES_SCHEDULER is supported if the ResourceScheduler attribute is TRUE TD0123 TASK can have one INTERNAL RESOURCE TD0125 TD0126 TD0134 TD0200 Error The TASK object can have only one reference to the RESOURCE object which has the RESOURCEPROPERTY subattribute
49. a task has been waiting or preempt running ready The scheduler decides to start another task The running task is put into ready state terminate running suspended The running task causes its transition into suspended state by a system service OSEKturbo OS MPC5xx TR 31 For More Information www freescale com Freescale Semiconductor Inc Task Management Task Concept Termination of tasks is only possible if the task terminates itself self termination There is no provision for a direct transition from suspended into waiting state This transition is redundant and would make the scheduler more complicated Waiting state is not directly entered from suspended state since the task starts and explicitly enters waiting state on its own Basic Tasks The state model for the Basic Tasks is nearly identical to the one for the Extended Tasks The only exception is absence of waiting state e running In running state the CPU is assigned to the task so that its instructions can be executed Only one task can be in this state at the same point in time while all the other states can be adopted simultaneously by several tasks e ready All functional prerequisites for transition into running state are met and the task only waits for allocation of the processor The scheduler decides which of ready tasks is executed next e suspended In suspended state the task is passive and does not occupy any resources merely ROM
50. all interrupts does not allow nesting EnableAllInterrupts Restore state of interrupts saved by DisableAllInterrupts service SuspendAllInterrupts Disable all interrupts allows nesting ResumeAllInterrupts Restore state of interrupts saved by SuspendAllInterrupts service SuspendOSInterrupts Disable interrupts of category 2 ResumeOSinterrupts Restore state of interrupts saved by SuspendOSInterrupts service Not all OS services may be used inside ISRs All OS services that are allowed for use in the ISRs of category 2 are listed in the Table 5 2 Table 5 2 Services allowed for use in ISRs of category 2 Service Name Description ActivateTask Activates the specified task puts it into the ready state GetTaskld Gets reference to a task GetTaskState Gets state of the task GetResource Occupies a resource ReleaseResource Releases a resource SetEvent Sets event for the task GetEvent Gets event of the task TR 52 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Table 5 2 Interrupt Processing Programming Issues Services allowed for use in ISRs of category 2 Service Name Description CounterTrigger Increments a counter value and process attached alarms GetAlarmBase Gets alarm base characteristics GetAlarm Gets value in ticks before the alarm expires SetRelAlarm
51. also System Objects Definition The task definition looks like the following TASK TASKSENDER PRIORITY 5 SCHEDULE FULL AUTOSTART FALSE ACTIVATION 1 RESOURCE MYRESOURCE RESOURCE SECONDRESOURCE EVENT MYEVENT STACKSIZE 256 ACCESSOR SENT MESSAGE MYMESSAGE WITHOUTCOPY TRUE ACCESSNAME MessageBuffer A description of possible task properties is indicated in Table 3 3 Table 3 3 Task Properties Object Parameters Possible Values Description Standard Attributes PRIORITY menn Defines the task priority The lowest priority has the 0 0x7FFFFFFF value 0 SCHEDULE FULL NON Defines the run time behavior of the task AUTOSTART TRUE FALSE Defines whether the task is activated during the system start up procedure or not APPMODE name of APPMODE Pane an application mode in which the task is auto starte ACTIVATION 1 Specifies the maximum number of queued activation requests for the task the OSEKturbo does not allow multiply activations TR 36 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Task Management Programming Issues Table 3 3 Task Properties RESOURCE name of RESOURCE Resources accessed by the task There can be several resource references EVENT name of EVENT Event owned by the task There can be several event re
52. application FloatingPoint option should be used It is not possible to perform floating point calculations inside ISR handlers The following statement should be used to configure floating point support in OSEK OS The attribute should be defined inside the scope of the OS object in accordance with the following syntax default attribute value is shown in bold type FloatingPoint lt TRUE FALSE gt e FloatingPoint BOOLEAN The FloatingPoint attribute turns floating point support If the attribute is TRUE the floating point registers are saved restored during context switch and FP bit in MSR is set during task s execution If the attribute is FALSE the floating point registers are not saved restored during context switch Task Definition TR 126 Task object is used in OIL file to define task data Several statements can be in the configuration file each statement defines one task Attributes of this object define task properties Links with other system objects are defined via references The keyword TASK is OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition Task Definition used for this object type See Task Management for more detailed information about OSEK tasks The syntax of the task object is as follows TASK lt name of TASK gt PRIORITY lt integer gt SCHEDULE lt FULL NON gt AUTOSTART lt TRUE FALSE gt
53. are common for the whole system The attributes should be defined inside the scope of the OS object in accordance with the following syntax default attribute value are shown in bold type STATUS lt STANDARD EXTENDED gt CC lt BCC1 ECC1 AUTO gt DEBUG_LEVEL lt 0 1 2 4 gt BuildNumber lt TRUE FALSE gt FastTerminate lt TRUE FALSE gt FastScheduler lt TRUE FALSE gt OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OS Definition MessageCopyAllocation lt USER OS gt ResourceScheduler lt TRUE FALSE gt e STATUS ENUM The attribute specifies the debugging ability of OS defines whether additional run time error checks are supported by OS for OSEK API calls or not If the system has the extended status some additional checks are performed to detect run time errors The extended status adds approximately 20 of code and increases timing accordingly This mode is considered to be a debugging mode The standard status of OS performs only very limited set of checks the performance is increased and the amount of consumed memory is decreased As a general approach it is recommended to start application development with extended status to discover configuration and run time problems For debugged applications the status may be set to standard to reduce code size and advance timing e CC ENUM or A
54. behaviour as the first resource The OIL language especially supports the definition of resources with identical behaviour so called linked resources Priority Ceiling Protocol The Priority Ceiling Protocol is implemented in the OSEK Operating System as a resource management discipline The priority ceiling protocol elevates the task or ISR requesting a resource to a resource priority level This priority can be simply calculated during the system generation As shown in General the Ceiling Priority is e Higher or equal to the highest task or ISR priority with access to this resource task T1 e Lower than the priority of those tasks or ISR which priority is higher than the one of task T1 Note that all ISR priorities are higher than any task and scheduler priorities OSEKturbo OS MPC5xx TR 59 For More Information www freescale com Freescale Semiconductor Inc Resource Management Access to Resources When a task or ISR occupies a resource the system temporarily changes its priority It is automatically set to the Ceiling Priority by the resource management Any other task or ISR which might occupy the same resource does not enter running state ISR stays pending and cannot start due to its lower or equal priority If the resource occupied by the task or ISR is released the task ISR returns to its former priority level Other tasks which might occupy this resource can now enter running state ISR can star
55. bss SIZEOF bss __SP_INIT ADDR ram SIZEOF ram _ _HEAP_END __SP_INIT SIZEOF stack __SP_END _ HEAP END OSEKturbo OS MPC5xx TR 255 For More Information www freescale com Freescale Semiconductor Inc Debugging Application ORTI Features _ _DATA_RAM _ _DATA_ROM DATA _END Al Al DDR data DATA RAM DDR sdata SIZEOF sdata _ _BSS_START ADDR sbss _ _BSS_END Al D DR bss SIZEOF bss 2 symbols for ORTI support SP _INLT _OsOrtiStart _OsOrtiStackStart _ SP_END for Metrowerks CodeWarrior complier 2 variables are defined in the OS code _OsOrtiStart contains the _stack_addr variable value and _OsOrtiStackStart contains the _stack_end variable value These variables shall be pointed in the FORCEACTIVE statement in the link command file In this case Code Warrior link command file may look like the following MEMORY FORCEACTIVE SECTIONS _heap_addr _heap_end stack_end stack_addr _OsOrtiStart _OsOrtiStackStart _e bss _e_bss heapsize _heap_end _stack_end stacksize TR 256 The following counter information is available to the user maxallowed value ticksperbase mincycle current counter value indicator if alarms attached to counter is activated property which indicates OSTICKDURATION the t
56. by a set of attributes and references All keywords attributes object names and other identifiers are case sensitive OIL File The OIL file contains two parts one for the definition of implementation specific features Implementation Definition and another one for the definition of the structure of the application located on the particular CPU Application Definition OSEKturbo OS MPC5xx TR 106 For More Information www freescale com Freescale Semiconductor Inc System Configuration OIL Concept In the very beginning of an OIL file the number of the version of OIL is indicated The keyword OIL_VERSION is used for this purpose For example OIL_VERSION 2 3 OIL Format The Standard OIL is intended to configure OSEK OS Operating System OS It strictly defined by the OSEK VDX System Generation OIL OSEK Implementation Language v 2 3 10 September 2001 specification Implementation Definition The Implementation Definition defines implementation specific features for the particular OSEK implementation for which this application is developed The implementation can limit the given set of values for object attributes e g restrict the possible OS conformance classes It is not allowed to exclude any standard attributes from the particular OSEK implementation Additional non standard attributes can be defined for the objects for the particular OSEK implementation The include mechanism
57. called both on the task level from a task and the interrupt level from ISR In the case of calling from ISR the operating system will reschedule tasks only after the ISR completion e Standard E OK no error E_OS_LIMIT too many task activations of the specified task e Extended E OS ID the task identifier is invalid BCC1 ECC1 OSEKturbo OS MPC5xx For More Information www freescale com Syntax Input Output Description Particularities Status Conformance Syntax Input Output Freescale Semiconductor Inc System Services Task Management Services TerminateTask StatusType TerminateTask void None None This service causes the termination of the calling task The calling task is transferred from the running state into the suspended state The resources occupied by the task shall be released before the call to TerminateTask service If the call was successful TerminateTask does not return to the call level and enforces a rescheduling Ending a task function without calling TerminateTask or ChainTask service is strictly forbidden If the system with extended status is used the service returns in case of error and provides a status which can be evaluated in the application There are following limitations for BCC1 class if FastTerminate is set to TRUE TerminateTask service shall be called in task function body from the function level in STANDARD status this
58. e MultiLevel when multilevel interrupt emulation mode is supported NOTE There are two interrupt levels even in case of None and OneLevel Interrupt dispatcher maskable and unmaskable interrupts The words interrupts level means maskable external interrupts External Interrupts Processing Background All External Interrupts share one vector offset OxYYY00500 Interrupt sources originate interrupt service requests These sources include interrupts from internal sources such as the PIT and RTC from IMB3 module and from external pins IRQ 0 7 Each source is identified by a level Some interrupt sources have fixed levels Other levels can be assigned by the system designer Table 14 4 is a summary of interrupt sources and levels for MPC555 and according ISR PRIORITY attribute value Table 14 4 Sources Versus Levels and PRIORITY for MPC555 Priority Interrupt Source PRIORITY O Highest IRQO 15 1 Level0 14 2 IRQ1 13 3 Level 1 12 4 IRQ2 11 5 Level 2 10 6 IRQ3 9 7 Level 3 8 8 IRQ4 7 9 Level 4 6 TR 164 OSEKturbo OS MPC5xx For More Information www freescale com Table 14 4 NOTE Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features Sources Versus Levels and PRIORITY for MPC555 Priority Interrupt Source PRIORITY 10 IRQ5 5 11 Level 5 4 12 IRQ6 3 13 Level 6 2 14 IRQ7 1 15 Lowest Level 7 0 16 31 Reserved
59. e interrupt have occurred The Extended Tasks differ from the Basic Tasks by being allowed using additional operating system services which may result in waiting state Waiting state allows the processor to be freed and reassigned to a lower priority task without the necessity to terminate the Extended Task OSEKturbo OS MPC5xx TR 29 For More Information www freescale com Freescale Semiconductor Inc Task Management Task Concept The task type is determined automatically If a TASK object has a reference to EVENT the task is considered to be Extended Both types of tasks have their advantages which must be compared in context of application requirements They both are justified and supported by the OSEK operating system Every task has a set of related data task description data located in ROM and task state variables in RAM Also every extended task has its own stack assigned Every running task is represented by its run time context This refers to CPU registers and some compiler dependent pseudoregisters in RAM When the task is interrupted or preempted by another task the run time context is saved The task can be in several states since the processor can execute only one instruction of the task at any time but at the same time several tasks may compete for the processor The OSEK OS is responsible for saving and restoring the task context in conjunction with state transitions whenever necessary Extended Task
60. following sections General e Counters e Alarms e Alarm Callback e TimeScale e Programming Issues The OSEK operating system comprises a two level concept to make use of recurring occasions like periodic interrupt of timers interrupt of the sensors on rotating angles or any recurring software occasions To manage such a situation counters and alarms are provided by the OSEKturbo OS Additionally OSEKturbo OS provides a TimeScale mechanism for fast tasks activations in accordance with statically defined schedule The recurring occasions sources can be registered by counters Based on counters the OSEK OS offers an alarm mechanism to the application software Counters and alarms are provided by the OSEK OS in all Conformance Classes Counter concept and counter management system services are based on the OSEK Operating System Concept v 1 00 September 1995 and OSEK Operating System Application Program Interface v 1 00 11 September 1995 documents OSEKturbo OS provides two types of counters software SW counters that are the same as in previous versions of OSEK and hardware HW counters HW counters allow more precise timing while decreases system overhead time because the timer interrupts are occurs only when the alarm s attached to the counter expiries OSEKturbo OS MPC5xx TR 65 For More Information www freescale com Freescale Semiconductor Inc Counters and Alarms Counters Figure 7 1 Counters and Alarms
61. gt nanoseconds Information The value of the StepTime attribute should be a multiple of number in nanoseconds that is specified by the value of the Period attribute defined for the SysTimer attribute with HWCOUNTER value StepTime value exceeds maximal possible hardware counter period Error The message is generated when calculated StepTime attribute s value is greater than COUNTER MAXALLOWEDVALUE value which is referenced with OS SysTimer COUNTER Hardware counter period shall be at least lt number gt times greater Information The message is generated after group of TD0526 error messages and specifies required increase of SysTimer Period or Prescaler Value attribute s value to eliminate TD0526 errors Cannot find registry key Fatal Error The Windows Registry is inconsistent Cannot find registry value Fatal Error The Windows Registry is inconsistent EVENT lt name gt and EVENT lt name gt share the same bit and used by TASK all together Warning Sharing the same bit by event masks inside the task can cause that the task will obtain the unexpected event notification EVENT is declared but never used Warning The EVENT object is defined in OIL file but other OIL objects task alarms have no references to this event OSEKturbo OS MPC5xx For More Information www freescale com TD0753 TD0754 TD0755 TD0756 TD0757 TD0758 TD0759 TD0760 Freescale Semiconductor Inc System
62. h h n 1 1 n counter counter counter counter a alarm alarm alarm alarm ActivateTask SetEvent ore Counters Any occasion in the system can be linked with a counter so that when the occasion has occurred the counter value is changed A counter is identified in the system via its symbolic name which is assigned to the counter statically at the configuration stage A counter is represented by a current counter value and some counter specific parameters counter initial value conversion constant and maximum allowed counter value They are defined by the user The latter two parameters are constants and they are defined at system generation time The counter initial value is the dynamic parameter The user can initialize the counter with this value and thereafter on task or on interrupt level advance it using the system service CounterTrigger The HW counters may use only System and Second Timers and has a maximum allowed value OxFFFFFFFF Only time base reference registers TBREFO TBO and TBREF1 TB1 may be used with HW counters The source s for HW counters is hardware itself For HW counters one tick of hardware timer is equivalent to a Period for SW counter thus enabling more precise timing while keeping system overhead on interrupt processing low because timer interrupts are raised only when alarms attached to
63. implementation definition file Attribute must not have WITH_AUTO specifier Error The attribute is defined in OIL file with WITH_AUTO specifier but this is inconsistent with the corresponding implementation definition file Attribute must have WITH_AUTO specifier Error The attribute is defined in OIL file without WITH_AUTO specifier but this 1s inconsistent with the corresponding implementation definition file Attribute must not have default value Error The default value is defined for the attribute in OIL file but the corresponding implementation definition file does not specify default value for this attribute OSEKturbo OS MPC5xx For More Information www freescale com OR5022 OR5023 OR5024 OR5025 OR5026 OR5027 OR5028 Freescale Semiconductor Inc System Generation Error Messages List of Messages Wrong attribute default value Error The attribute default value defined in OIL file does not correspond to it in the appropriate implementation definition file Attribute must have default value Error The default value is not defined for the attribute in OIL file but the corresponding implementation definition file specifies the default value for this attribute Attribute must not have range Error The value range is defined for the attribute in OIL file but the corresponding implementation definition file does not assign default value for this attribute Wrong minimum value
64. location Information The message refers to the item in implementation or application definition that is relevant to previous error message OR0064 Only CPU container allowed Error Only CPU container is supported by OIL format OR0065 Nested objects are not allowed Error The message is generated when OIL file is read Subobjects cannot be defined in the object definition according to OIL standard OR0066 Unsupported OIL Version Fatal Error OSEK SysGen supports OIL 2 1 OIL 2 2 and OIL2 3 OIL version should be defined as value for the OIL_ VERSION attribute at the beginning of OIL file OR0067 lt character gt expected Information This character is expected according to OIL file syntax OR0068 String expected Information The string is expected according to OIL file syntax TR 300 OSEKturbo OS MPC5xx For More Information www freescale com OR0069 OR0070 OR0071 OR0072 OR0073 OR0074 OR5011 OR5012 Freescale Semiconductor Inc System Generation Error Messages List of Messages Implementation name expected Information The implementation name has to be defined according to OIL file syntax Value expected Information The attribute value has to be defined according to OIL file syntax Attribute name expected Information The attribute name has to be defined according to OIL file syntax Unknown character lt char gt Information This character ha
65. messages in th equeue OSEKturbo OS MPC5xx TR 257 For More Information www freescale com Freescale Semiconductor Inc Debugging Application Stack Debugging Support first valid message message state action to be performed when message arrives message receiver message sender Stack Debugging Support TR 258 Stack labels are provided to control OSEK OS stacks usage in OS MPC for Diab These labels can be seen in symbol debugger and help control stack usage Stack labels Stack labels define boundaries of the stack area for the Extended tasks Bottom stack labels and top stack labels for tasks are provided Top of stack labels have the following format lt task name gt _TOS Bottom of stack labels have the following format lt task name gt _ BOS Stack Overflow Checking Optional stack overflow checking can be used during run time for check tasks ISR and main stacks usage Main and task stacks are checked during task switch If stack overflow is detected the ErrorHook with E_OS_SYS_STACK E_OS_SYS_MAINSTACK or E_OS_SYS_ISRSTACK status is called in case of Extended Task stack Main stack or ISR stack overflow accordingly Stack overflow control is turned on if StackOverflowCheck attribute value is TRUE and Error hook is defined For main stack checking OS uses the labels defined in linker command file _stack_end for Codewarrior and __SP_END for Diab compiler OSEKturbo OS MPC5xx For More Information www
66. of data type CtrInfoType e CtrInfoType the data type represents a structure for storage of counter characteristics This structure has the following elements OSEKturbo OS MPC5xx TR 209 For More Information www freescale com Freescale Semiconductor Inc System Services Counter Management Services maxallowedvalue maximum possible allowed counter value in ticks ticksperbase number of ticks required to reach a counter specific significant unit mincycle minimum allowed number of ticks for the cycle parameter of SetRelAlarm and SetAbsAlarm services only for system with Extended Status All elements of CtrInfoType structure have the data type TickType and the structure looks like the following for EXTENDED status typedef CtrInfoType tagCIT struct tagCIT TickType maxallowedvalue TickType ticksperbase TickType mincycle y for STANDARD status typedef CtrInfoType tagCIT struct tagCIT TickType maxallowedvalue TickType ticksperbase NOTE CtrRefType CtrinfoType and CtrinfoRefType data types are not defined in the OSEK VDX Operating System v 2 2 10 September 2001 specification These are OSEKturbo extension of OSEK OS Constants For all counters the following constants are defined e OSMAXALLOWEDVALUE_cname Maximum possible allowed value of counter lt cname gt in ticks e OSTICKSPERBASE_cname Number of ticks required t
67. or a Basic Task to wait for an event since the receiver of an event is an Extended Task in any case On the other hand any task or ISR can set an event for an Extended Task and thus inform the appropriate Extended Task about any status change via this event Events and Scheduling TR 80 An event is an exclusive signal which is assigned to an Extended Task For the scheduler events are the criteria for the transition of Extended Tasks from the waiting state into the ready state The operating system provides services for setting clearing and interrogation of events and for waiting for events to occur Extended Tasks are in the waiting state if an event for which the task is waiting has not occurred If an Extended Task tries to wait for an event and this event has already occurred the task remains in the running state Figure 8 1 illustrates the procedures which are effected by setting an event Extended Task 1 with higher priority waits for an event Extended Task 2 sets this event for Extended Task 1 The scheduler is activated Subsequently Task 1 is transferred from the waiting state into the ready state Due to the higher priority of Tasks 1 this results in a task switch Task 2 being preempted by Task 1 Task 1 OSEKturbo OS MPC5xx For More Information www freescale com Figure 8 1 Figure 8 2 Freescale Semiconductor Inc Events Events and Scheduling resets the event Thereafter Task 1 waits for this event aga
68. or none none lt intmembase gt is the base address of the internal memory If lt FPsupport gt is set to hard hardware then the OS configuration option FloatingPoint shall be set to TRUE Please see Metrowerks compiler User s Manual for details on compiler options Options for Metrowerks Assembler tor Embedded PowerPC The following compiler options should be used for Metrowerks assembler proc 555 Options for Metrowerks Linker tor Embedded PowerPC fp lt FPsupport gt OSEKturbo OS MPC5xx TR 155 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features Compiler Specific Features Where lt FPsupport gt is hard hardware soft software or none none If it is set to hard hardware then the OS configuration option FloatingPoint shall be set to TRUE Link OS Code into Special Segment In both compilers there is possibility to redirect the OS code into special memory segment using linker features This may be useful for more precise memory placement The following fragments of the Linker Command Files contains strings for OS memory section definition Section names and their addresses may be changed according to the user s discretion Linker Command File for Diab CC MEMORY ram org 0x00003000 len 0xB000 address and size for OS segment os_rom org 0x0000E000 len 0xB000 vect org 0x00000000 len 0x2000 SE
69. queued this status is OSEKturbo extension of OSEK OS e Extended E_COM_ID the message parameter is invalid Conformance BCC1 ECC1 OSEKturbo OS MPC5xx TR 229 For More Information www freescale com System Services Freescale Semiconductor Inc Communication Management Services Syntax Input Output Description Particularities Status Conformance Syntax Input Output Description Particularities TR 230 ReleaseMessageResource StatusType ReleaseMessageResource SymbolicName lt Message gt lt Message gt symbolic name of the message object None The service ReleaseMessageResource shall unconditionally set the message object lt Message gt to NOT_BUSY It is recommended that corresponding calls to Get and ReleaseMessageResource appear within the same function on the same function level Before terminating the task or entering the wait state the corresponding service ReleaseMessageResource shall be used This service can only be used to support the transfer of a message identified by lt Message gt whose copy configuration is WithoutCopy e Standard E_OK the message has been set to NOT_BUSY status e Extended E_COM_ID the message parameter is invalid E_OS_NOFUNC the message is queued this status is OSEKturbo extension of OSEK OS BCC1 ECC1 GetMessageStatus StatusType GetMessageStatus SymbolicName lt Message gt lt Me
70. ready before the system service returns to the calling task or ISR Allowed on task level and ISR level but not in hook routines If alarm is already in use the service call is ignored To change values of alarms already in use the alarm has to be cancelled first This service is not implemented if no alarms are defined in the configuration file e Standard E OK no error E_OS_STATE the alarm is already in use e Extended E_OS_ID the alarm identifier is invalid OSEKturbo OS MPC5xx TR 219 For More Information www freescale com System Services Freescale Semiconductor Inc Alarm Management Services Conformance Syntax Input Output Description Particularities TR 220 E_OS_VALUE an alarm initialization value is outside of the admissible limits lower than zero or greater than the maximum allowed value of the counter or alarm cycle value is unequal to 0 and outside of the admissible counter limits less than the minimum cycle value of the counter or greater than the maximum allowed value of the counter e BCC1 ECC1 SetAbsAlarm StatusType SetAbsAlarm AlarmType lt AlarmID gt TickType lt Start gt TickType lt Cycle gt lt AlarmID gt a reference to the alarm lt Start gt an absolute value in ticks lt Cycle gt an alarm cycle value in ticks in case of cyclic alarm In case of single alarms cycle has to be equal zero None The
71. service does not return a status and can not be used in expressions The service call is allowed on task level only e Standard No return to call level e Extended E_OS_RESOURCE the task still occupies resources E_OS_CALLEVEL a call at the interrupt level BCC1 ECC1 ChainTask StatusType ChainTask TaskType lt TaskID gt lt TaskID gt a reference to the sequential succeeding task to be activated None OSEKturbo OS MPC5xx TR 183 For More Information www freescale com Freescale Semiconductor Inc System Services Task Management Services Description This service causes the termination of the calling task After termination of the calling task a succeeding task lt TaskID gt is transferred from the suspended state into the ready state Using this service it ensures that the succeeding task only starts to run after the calling task has been terminated Particularities The resources occupied by the calling task shall be released before the call to ChainTask service If the call was successful ChainTask does not return to the call level and enforces a rescheduling Ending a task function without calling TerminateTask or ChainTask service is strictly forbidden If the succeeding task is identical with the current task this does not result in multiple requests The service returns in case of error and provides a status which can be evaluated by the application There are fol
72. system service occupies the alarm lt AlarmID gt element When lt Start gt ticks are reached the task assigned to the alarm lt AlarmID gt is activated or the assigned event only for Extended Tasks is set If lt Cycle gt is unequal to 0 the alarm element is logged on again immediately after expiry with the relative value lt Cycle gt Otherwise the alarm triggers only once If the absolute value lt Start gt is very close to the current counter value the alarm may expire and assigned task may become ready before the system service returns to the calling task or ISR If the absolute value lt Start gt have been reached before the service call the alarm will only expire when lt Start gt value will be reached again Allowed on task level and ISR level but not in hook routines If alarm is already in use the service call is ignored To change values of alarms already in use the alarm has to be cancelled first OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Alarm Management Services This service is not implemented if no alarms are defined in the configuration file Status e Standard E_OK no error E_OS_STATE the alarm is already in use e Extended E_OS_ID the alarm identifier is invalid E_OS_VALUE an alarm absolute value is outside of the admissible limits lower than zero or greater than the maximum allowed value of the counter
73. task level ISR level and in ErrorHook PreTaskHook and PostTaskHook hook routines This service is not implemented if no alarms are defined in the configuration file Status e Standard E_OK no error E_OS_NOFUNC the alarm is not in use e Extended TR 218 OSEKturbo OS MPC5xx For More Information www freescale com Conformance Syntax Input Output Description Particularities Status Freescale Semiconductor Inc System Services Alarm Management Services E_OS_ID the alarm identifier is invalid BCC1 ECC1 SetRelAlarm StatusType SetRelAlarm AlarmType lt AlarmID gt TickType lt Increment gt TickType lt Cycle gt lt AlarmID gt a reference to the alarm lt Increment gt an alarm initialization value in ticks lt Cycle gt an alarm cycle value in ticks in case of cyclic alarm In case of single alarms the value cycle has to be equal zero None The system service occupies the alarm lt AlarmID gt element After lt Increment gt counter ticks have elapsed the task assigned to the alarm lt AlarmID gt is activated or the assigned event only for Extended Tasks is set If lt Cycle gt is unequal to 0 the alarm element is logged on again immediately after expiry with the relative value lt Cycle gt Otherwise the alarm triggers only once If relative value lt Increment gt equals 0 the alarm expires immediately and assigned task becomes
74. task management The following statements are used to define ISR category 1 SR SR_handler the code without any OS service calls WARNING ISR category 1 should have the priority higher than any ISR of category 2 If ISR category 1 is interrupted by ISR category 2 rescheduling may take place at the end of ISR category 2 execution and ISR category 1 execution will be suspended therefore ISR Category 2 In ISR category 2 the OSEK Operating System provides an automatic switch to the ISR stack for ECC1 only and enters OSEK OS execution context After that any user s routine can be executed including allowed OS calls to activate a task send a message or trigger a counter See Run time Services for the list of services allowed for ISR At the end of the ISR the System automatically switches back to the task stack and restores context The following statements are used to define ISR category 2 SR SR_handler the code with allowed OS calls Inside the ISR no rescheduling will take place Rescheduling may only take place on termination of the ISR of category 2 if a preemptable task has been interrupted OSEKturbo OS MPC5xx TR 49 For More Information www freescale com Freescale Semiconductor Inc Interrupt Processing Interrupt Level Manipulation WARNING Interrupts which can not be disabled such as NMI or any synchronous exc
75. this counter are expired TR 66 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Counters and Alarms Counters The maximum allowed counter value specifies the number after which the counter rolls over After a counter reaches its maximum allowed possible value or rolls over the predefined size 32 bits it starts counting again from zero The conversion constant can be used to convert the counter value into an appropriate user specific unit of measurement e g seconds for timers angular degrees for rotating axles The conversion is done by the user s code and this parameter can be treated as a counter specific reference value The operating system provides the standard service GetCounterInfo to read these counter specific values Also the service GetCounter Value is designed to read the current counter value OSEKturbo OS provides two timers the internal system clocks a system timer and a second timer The timers are not defined in OSEK OS specifications starting from OSEK OS v 2 0 specification This is OSEKturbo extension of OSEK OS User can turn on or turn off the system timer using the SysTimer attribute and the second timer using the SecondTimer attribute The timer can be assigned to a standard counter with the following additions e special constants are defined to describe counter parameters and to decrease access time e the user defines the source of hardware interrupt
76. to sent or received messages e MESSAGE reference The reference specifies the message to be sent or received by the task This parameter is a single reference it has to be defined e WITHOUTCOPY BOOLEAN The attribute defines whether a local copy of the message is used or not This attribute has to be defined e ACCESSNAME STRING The attribute defines the reference which can be used by the application to access the message data This attribute has to be defined The local copy of the message shall be defined with this TR 128 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition ISR Definition name in application code in case an access to the message is processed using local copy ISR Definition This object presents an Interrupt Service Routine The keyword ISR is used for this object type The syntax of the ISR object is as follows ISR lt name of ISR gt CATEGORY lt 1 2 gt PRIORITY lt integer gt RESOURCE lt name of RESOURCE gt ACCESSOR lt SENT RECEIVED gt MESSAGE lt name of MESSAGE gt ACCESSNAME lt string gt y The same ISR name shall be used for corresponding ISR object declaration and definition see Conventions Attributes This object has the following attributes e CATEGORY UINT32 The attribute specifies category of the Interrupt Service Routine see
77. with OS kernel code and user s source code 1 The header file which describes the current properties of the operating system This file contains the preprocessor directives define and undef This file is used at compile time to build the OS kernel with the specified properties The default filename is osprop h but the user can assign another name see Source Files 2 The application configuration header file which contains definitions of all system objects data types constants and external declarations of variables which are needed to describe system objects This file is used to compile application files By default System Generator uses the input file name for this output file with h extension 3 The source file which contains initialized data and memory allocation for system objects This file is compiled with osprop h and other header files and then linked together with other application and OS files By default System Generator uses the input file name for this output file with M S c extension As a rule the user is not allowed to edit files produced by the System Generator It may lead to data inconsistency compilation errors or unpredictable application behavior Source Files OSEK Operating System is delivered to the user as a set of source files Header and source files of the Operating System are located in the predefined directories after OSEK OS installation Paths to these
78. 00 gt y TR 116 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OS Definition SecondTimer lt HWCOUNTER SWCOUNTER NONE gt COUNTER lt name of COUNTER gt SRPRIORITY lt integer gt Period lt integer AUTO gt TimerHardware lt name of hardware timer gt Prescaler lt USER OS gt Value lt integer AUTO gt y TimerModuloValue lt integer AUTO gt Freeze lt TRUE FALSE gt RTSEL lt EXTCLK OSCM gt y y HCLowPower lt TRUE FALSE gt y e TargetMCU ENUM This OSEKturbo specific attribute defines the target for which the OS will be configured It is highly recommended to use sample makefile as a basis for building application to provide consistency in compiler linker settings Value MPC corresponds to any MCU of this MCU family Any target specific parts of code such as timer support are disabled in this case e ClockFrequency UINT32 This OSEKturbo specific attribute specifies timers input frequency OSCM or EXTCLK depending on user setting of RTSEL for PIT and RTC OSCM for DEC and TB timers in kHz for calculating prescaler value and timer modulo value This attribute shall be defined if any of Period Prescaler Value or and any TimerModuloValue is AUTO Otherwise this attribute is ignored e ClockDivider UINT
79. 1 ECC1 GetTaskState Syntax StatusType GetTaskState TaskType lt TaskID gt TaskStateRefType lt StateRef gt Input lt TaskID gt a reference to the task Output lt StateRef gt a pointer to the state of task The service saves the task state into the variable that is addressed by pointer lt StateRef gt Reference to TaskStateType variable can be used instead of TaskStateRefType variable Description The service returns the state of the specified task lt TaskID gt running ready waiting suspended at the time of calling GetTaskState Particularities The service may be called both on the task level from a task and the interrupt level from ISR This service may be called from ErrorHook PreTaskHook PostTaskHook hook routines Within a full preemptive system calling this operating system service only provides a meaningful result if the task runs in an interrupt disabling state at the time of calling When a call is made from a task in a full preemptive system the result may already be incorrect at the time of evaluation When the service is called for a task which is multiply activated the state is set to running if any instance of the task is running Status e Standard E_OK no error e Extended E_OS_ID the task identifier is invalid TR 186 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Conformance BCC1 ECC1 Examples for T
80. 2 T 1876 8 T 1 R 130 92 T 2200 8 T 1 R 138 92 T 2372 8 T 1 R OSEKturbo OS MPC5xx For More Information www freescale com TR 281 Freescale Semiconductor Inc Memory Requirements Data Sheet for Diab CC Table C 1 Operating System Memory Requirements Diab CC Num ber System Properties configuration Confor mance Class RAM ROM 15 Initial 16 Initial an event defined 17 Changed SCHEDULE NON for all tasks 18 Initial an event defined SCHEDULE NON for one task and FULL for other one 19 Changed STATUS E EXTENDED 20 Changed ERRO TRUE 21 Changed USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE 22 Initial an event defined Counter defined 23 Changed Alarm with ACT ONS SETEVENT defined 24 Initial an event defined Message with ACTION NONE defined 25 Initial an event defined Messagg with ACTION ACTIVATETASK defined 26 Initial an event defined Message with ACTION SETEVENT defined 27 Initial an event defined Resource for task defined 28 ed Changed ISR category 2 defined 29 Changed InterruptDispatcher OneLevel ECCI 105 92 T 1324 12 T 113 100 T 1816 12 T 113 100 T 1688 12 T 113 100 T 1840 12 T 113 100 T 2028 12 T 114 100 T 2784 12 T 119 100 T 3324 12
81. 32 This OSEKturbo specific attribute specifies PLL divider for calculating input timer frequency The attribute is applicable if the TimerHardware attribute has DEC TBO or TB1 value It is the user responsibility to initialize hardware to appropriate values Value of the attribute shall be equal to actual divider not the value written into the HW register OSEKturbo OS MPC5xx TR 117 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OS Definition TR 118 e ClockMultiplier UINT32 This OSEKturbo specific attribute specifies PLL multiplier for calculating input timer frequency The attribute is applicable if the TimerHardware attribute has DEC TBO or TB1 value It is the user responsibility to initialize PLL hardware with appropriate values Value of the attribute shall be equal to actual multiplier not the value written into the HW register SysTimer ENUM This OSEKturbo specific attribute specifies whether the internal OS system timer is used or not If SysTimer is set to SWCOUNTER or HWCOUNTER interrupt services are turned on automatically The attribute can not be defined if TargetMCU is set to MPC If this attribute is SWCOUNTER or HWCOUNTER then specific subattributes can be defined for the system timer SecondTimer ENUM This OSEKturbo specific attribute specifies whether the internal OS second timer is used or not The attribute can not be defined if TargetMCU
82. 7 General and Special Purpose Registers Usage 158 Stack Size gt La Cedo ie dle a 158 Stack Usage for OS Services ug uu pais dr Ge 158 MPG555 Features 2 rus Landa Lola parti 160 Programming Model sicari a GS EB Sed a ee 160 Target Hardware Initialization 161 Interrupt Vector Table a anta A las dad 161 Low Power Mode 020 ds a a Boe e el oR Sow 162 MSR bits Manipulation 2 4 sog RA ARA 162 OSEKturbo OS MPC5xx TR 7 For More Information www freescale com Contents Freescale Semiconductor Inc Implementation Background a a a a a a a 162 Using Floating Point 46 44 a Pe ee oe FS 162 Nested Interrupts sie Ge eta Bt Sal BA a 163 Interrupt Dispatcher ded se ASS e wc ae SI REL ae amp 164 Stack Defimition stuoie dre Gera Gosh Se i 166 Recommendations on System Properties 2 2 166 Floating Poimt Property cu opa diete ae ee 166 Timer Hardware Gue Pellini aa 167 PIT based System Second Timer a a a a a a 168 RTC based System Second Timer 2 2 169 DEC based System Second Timer 170 System and Second Timers 2 a a a 2 2 170 Example of Timers Configuration 170 MPC5657563 561 Features a O amp AW A A 171 Regular Interrupt Controller Operation MPC555 Compatible Mode o a a a a a 172 Enhanced Interrupt Controller e a a gt oh ae e 172 DEC based System Second Timer a 174 15 Application T
83. Application Source Files TR 266 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc B System Service Timing This appendix provides information about OS services execution time This appendix consists of the following sections e General Notes e Data Sheet General Notes Results in tables below were got on the basis of the certain OS configuration The list of system properties is shown below and this configuration is called in the table as Initial Properties that are not listed have their default values In the column Configuration the differences from the given list Initial are indicated For each configuration the corresponded numbers are provided in the table In the column Conditions the specifics details for service execution are indicated CC BCCl STATUS STANDARD STARTUPHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE POSTTASKHOOK FALSE ERRORHOOK FALSE USEGETSERVICEID FALSE USEPARAMETERACCESS FALSE FastTerminate TRUE FastScheduler TRUE ResourceScheduler FALSE ACTIVATION 1 for all TASK objects SCHEDULE FULL for all TASK objects ISR category 2 defined Four tasks present in the application OSEKturbo OS MPC5xx TR 267 For More Information www freescale com Freescale Semiconductor Inc System Service Timing Data Sheet Measurem
84. BCC1 0 16 ResumeOSinterrupts BCC1 0 16 SuspendOSInterrupts BCC1 0 16 GetResource BCCI 16 16 ReleaseResource BCC1 16 32 SetEvent with rescheduling ECC1 32 48 ClearEvent ECC1 0 16 GetEvent ECC1 0 0 WaitEvent wuth rescheduling ECC1 32 32 SendMessage BCC1 32 48 ReceiveMessage BCC1 32 32 InitCounter BCC1 0 16 CounterTrigger with rescheduling BCC1 32 32 GetCounterValue BCCI 0 16 GetCounterlnfo BCC1 0 0 GetAlarmBase BCC1 0 0 SetRelAlarm BCC1 32 48 SetAbsAlarm BCC1 32 48 CancelAlarm BCC1 16 32 GetAlarm BCC1 0 32 OSEKturbo OS MPC5xx TR 159 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features Table 14 2 Table 14 3 Stack Usage for OS Services Stack in bytes System service CC CodeWarrior Diab CC StartTimeScale with resceduling BCC1 80 96 StopTimeScale BCC1 0 0 The Table 14 3 shows stack usage for empty Tasks and ISRs and for System Timer ISR Stack Usage for Empty Tasks ISRs Operation cc CodeWarrior Diab CC Empty BASIC task BCC1 80 96 EXTENDED task with WaitEvent inside endless loop BOEI i ci Empty ISR category 1 BCC1 ECCI 48 80 ISR category 2 Task stack ECCI 96 100 Empty ISR category 2 ISR ECCI 00 06 stack SystemTimer ISR Alarm activated ISR Stack EGG ci di Including Activate Task stack usage To estimate the approximate size of a task stack list the functio
85. BO feature is not defined in the OSEK OS license EVENTS are not allowed for lt class gt Error According to OSEK OS spec the events are not supported in Basic conformance classes This message is generate if the EVENT object is defined but one of the Basic conformance classes is defined for OS EVENT is defined in lt class gt Information According to OSEK OS spec the events are not supported in Basic conformance classes This message is generate if the EVENT object is defined but one of the Basic conformance classes is defined for OS IsrStackSize shall be defined Error The srStackSize attribute must be defined if the application contains extended tasks and ISR category 2 or system timer OSEKturbo OS MPC5xx TR 305 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 306 TD0038 TD0045 TD0046 TD0051 TD0056 TD0057 TD0058 At least one OS TASK APPMODE shall be defined Error At least one object of OS TASK and APPMODE types should to be defined in an application Only one OS object has to be defined COUNTER for SysTimer SecondTimer shall be defined Error If the SysTImer SecondTimer attribute is SWCOUNTER or HWCOUNTER then the COUNTER reference shall be defined The same counter cannot be attached to both system and second timers Same COUNTER cannot be used for SysTimer and SecondTimer Error T
86. CALLBACKNAME subattribute specifies the name of the callback routine called when the alarm expires e ALARMCALLBACKNAME STRING The attribute specifies the name of the callback routine called when the alarm expires The parameter should be specified if the ACTION attribute is set as ALARMCALLBACK e TASK reference The reference to a task which is to be notified via activation or event setting when the alarm expires e EVENT reference The reference specifies the event mask to be set when the alarm expires The event is considered as an inseparable pair of the task and the event belonging to this task so the reference to the task which owns the events shall be also defined for this alarm The reference shall be defined if the ACTION value is SETEVENT e AUTOSTART BOOLEAN The attribute defines whether an alarm is started automatically at system start up depending on the TR 136 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition Message Definition application mode If the alarm should be started at the system start up the value is set to TRUE otherwise the value is set to FALSE When the AUTOSTART attribute set to TRUE the ALARMTIME CYCLETIME and APPMODE parameters should be defined e ALARMTIME UINT32 The attribute defines the time when the alarm shall expire first The attribute should be be defined if the AUTOSTART attribute is set to TRUE
87. CTIONS GROUP First take all code and constants from all OS objects ostext TEXT S oilname obj text os obj text ostsk obj text osisr obj text osalm obj text osctr obj text osres obj text osevt obj text osmsg obj text ossch obj text osset obj text ostrg obj text Next take all small CONST data ossdata2 oilname obj sdata2 os obj sdata2 ostsk obj sdata2 osisr obj sdata2 osalm obj sdata2 osctr obj sdata2 osres obj sdata2 osevt obj sdata2 osmsg obj sdata2 ossch obj sdata2 osset obj sdata2 ostrg obj sdata2 gt os_rom TR 156 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features Compiler Specific Features Linker Command File for Metrowerks Linker for Embedded PowerPC MEMORY ram org 0x00003000 len 0x0000B000 address and size for OS segment os_rom org 0x0000E000 len 0x0000B000 vect org 0x00000000 len 0x00002000 SECTIONS The first group contains code and constant data exclude OS code and constants GROUP text TEXT iene init fini text rodata rdata sdata2 DATA rodata CONST extab CONST dtors CONST sectors CONST extabindex CONST gt ram The second group contains OS code and constant data GROUP
88. CounterName gt DeclareAlarm lt AlarmName gt Run time Services OSEK OS grants a set of services for the user to manage counters and alarms Detailed descriptions of these services are provided in System Services Here only a brief list is given Counter and Alarm Management Run time Services Service Name Description InitCounter Sets the initial value of the counter CounterTrigger Increments the counter value and process attached alarms GetCounterValue Gets the counter current value GetCounterlnfo Gets counter parameters SetRelAlarm Sets the alarm with a relative start value SetAbsAlarm Sets the alarm with an absolute start value CancelAlarm Cancels the alarm the alarm is transferred into the STOP state GetAlarm Gets the time left before the alarm expires StartTimeScale Starts TimeScale processing StopTimeScale Cancels TimeScale processing GetAlarmBase Gets alarm base attached counter parameters InitCounter CounterTrigger GetCounterValue GetCounterlnfo StartTimeScale and StopTimeScale services are not defined in OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS OSEKturbo OS MPC5xx TR 75 For More Information www freescale com Counters and Alarms Programming Issues Freescale Semiconductor Inc Examples of the run time service usage are provided in System Services Constant
89. Divider 117 ClockFrequency 117 ClockMultiplier 118 COUNTER 118 DEBUG_LEVEL 115 ERRORHOOK 125 FastTerminate 116 FloatingPoint 126 Freeze 120 HCLowPower 121 IdleLoopHook 125 InterruptDispatcher 123 ISRPRIORITY 118 IsrStackSize 121 MessageCopyAllocation 116 Period 119 POSTTASKHOOK 125 Prescaler 120 PRETASKHOOK 124 ResourceScheduler 116 TR 321 For More Information www freescale com Freescale Semiconductor Inc Index RTSEL 121 ScalePeriod 122 SecondTimer 118 SHUTDOWNHOOK 124 StackOverflowCheck 121 STAPTUPHOOK 124 STATUS 115 Step 122 StepNumber 122 StepTime 122 SysTimer 118 TargetMCU 117 TASK 122 TimerHardware 119 TimerModuloValue 120 TimeScale 122 TimeUnit 122 UnorderedExceptions 123 USEGETSERVICEID 125 USEPARAMETERACCESS 125 Value 120 OSEK 15 OSEK Implementation Language 106 OSEK Run Time Interface 247 R ready state 30 32 RESOURCE 133 LINKEDRESOURCE 134 RESOURCEPROPERTY 133 run time context 30 running state 30 32 S scheduler 41 Stack Errors 175 Standard OIL version 107 Start up Routine 101 suspended state 30 32 System Generator 26 105 system timer 67 T TASK 126 ACCESSNAME 128 ACCESSOR 128 ACTIVATION 128 TR 322 OSEKturbo OS MPC5xx For More Information www freescale com APPMODE 128 AUTOSTART 127 EVENT 128 MESSAGE 128 PRIORITY 127 RESOURCE 128 SCHEDULE 127 STACKSIZE 128 WITHOUTCOPY 128 U Unqueued Messages 85 W waiting state 22 30 79
90. E gt USEPARAMETERACCESS lt TRUE FALSE gt IdleLoopHook lt TRUE FALSE gt e STARTUPHOOK BOOLEAN The attribute defines whether the user s provided hook is called by the system after startup but before starting dispatcher and initializing system timer or not the StartupHook hook routine This hook may be used by the application to perform hardware initialization actions etc The alternative way is to make such initialization steps in the task which starts automatically The hook is called with disabled interrupts e SHUTDOWNHOOK BOOLEAN The attribute defines whether the user s provided hook is called by the system during system shutdown or not the ShutdownHook hook routine The main purpose of this hook is to shutdown initialized hardware devices like timers network controllers etc Besides the reason for shutdown may be obtained through the error code This hook is called after system timer shutdown if system timer is configured in the system Interrupts are disabled in this hook PRETASKHOOK BOOLEAN The attribute defines whether the user s provided hook is called from the scheduler code before the operating system enters context of the task or not the PreTaskHook hook routine In general this hook is designed for debugging applications by means of tracing current task OSEKturbo OS MPC5xx For More Information www freescale com Fr
91. EVENT object defines two different events for TASK_A and TASK _B s references in the TASK objects but these events have one and the same mask EVENT ExtEvent2 MASK 0x04 MESSAGE Norm TYPE UNQUEUED CDATATYPE int y The C language file TASK TASK_A Extended task TASK_A external events ExtEventl and ExtEvent2 aa is an OR of the masks of these events EventMaskType aa ExtEventl ExtEvent2 OSEKturbo OS MPC5xx TR 207 For More Information www freescale com Freescale Semiconductor Inc System Services Event Management Services internal events flags EventMaskType x zl Z1_FLG z2 Z2_FLG int speed Check the variable and set internal flag if needed if speed LIMIT x XEvent SetEvent TASK_A x GetEventMask TASK_A amp x check internal flag Perform some actions in accordance with internal flag status if x XEvent 0 ClearEvent z1 lse SetEvent TASK_A z2 if x amp YEvent 0 ChainTask TASK_C the task is stopped until one of three external events is set by another task WaitEvent aa clear all external events after awakening ClearEvent aa TASK TASK_B Extended task TASK_B EventMaskType b_ev a_ev b_ev DgrAlmEvent ExtEvent2
92. FGH The compiler command line see Compiling and Linking in this case should have the options like this dOSPROPH lt property_name gt dOSCFGH lt config_name gt Where lt property_name gt is the name of the file with system properties definitions and lt config_name gt is the name of the file with system configuration definitions But the user is allowed to use some other method to include the property definition and configuration header files in his her source code Among other files SG generates configuration C file containing definitions and initialization of OSEK OS configuration data declared in corresponding configuration header file Configuration C file is a separate module however in some particular OSEK OS configurations it could contain references to OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Building of Application Action Sequence to Build an Application user defined data and structures e g user s message structure types This requires a method to provide SG generated configuration C file with such user defined types and data declarations Thus SG generates the following code in configuration C file if defined APPTYPESH include APPTYPESH user s header file endif defined APPTYPESH The compiler command line see Compiling and Linking in this case should have the option like this dAPPTYPESH lt fil
93. Freescale Semiconductor Inc OSEKturbo OS MPC5xx V 2 2 1 Technical Reference Because of last minute software changes some information in this manual may be inaccurate Please read the readme txt file for the latest information Revised June 2003 For More Information www freescale com Freescale Semiconductor Inc 2003 MOTOROLA ALL RIGHTS RESERVED Motorola reserves the right to make changes without further notice to any products herein to improve reliability function or design Motorola does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others Motorola products are not designed intended or authorized for use as components in systems intended for surgical implant into the body or other applications intended to support or sustain life or for any other application in which the failure of the Motorola product could create a situation where personal injury or death may occur Should Buyer purchase or use Motorola products for any such unintended or unauthorized application Buyer shall indemnify and hold Motorola and its officers employees subsidiaries affiliates and distributors harmless against all claims costs damages and expenses and reasonable attorney fees arising out of directly or indirectly any claim of personal injury or death associated with such unintended or unauthorized use
94. G OSEK OS components as development software Application Configuration Applications built using OSEK OS are configured statically via the special configuration file written in OIL System Configuration describes the structure of such file and System Objects Definition describes all possible statements in detail This configuration file defines system specific parameters as well as system objects Such a file can have any extension and the extension oil is suggested by default The configuration file has to be processed by the special utility named System Generator SG This utility is delivered as one of the parts of the OSEK Operating System This tool runs as a 32 bit OSEKturbo OS MPC5xx TR 145 For More Information www freescale com Freescale Semiconductor Inc Building of Application Action Sequence to Build an Application console application for Windows 2000 98 and produces header and source files The following command is used to run SG sysgen options oil_file The following command line options are intended to control SG Table 13 1 System Generator Command Line Options Option Description Default value b Defines a format of messages output as tree like form No Defines lt name gt as the output c data file name Input OIL file name with c E Name gt extension f Defines lt name gt of comman
95. General This chapter describes possible OSEK OS versions configuration options and the configuration mechanism This chapter consists of the following sections e General e Application Configuration File e OIL Concept The OSEK Operating System is fully statically configured one All system properties the number of system objects and their parameters characteristics of tasks counters alarms messages etc run time behavior are defined by the user Such approach allows the user to create various range of applications with exactly defined characteristics Different memory and performance requirements can be easily satisfied with such modular approach All application parameters are defined in the special configuration file This file must conform OIL grammar rules It is processed by the separate System Generator utility SG The System Generator analyzes statements in the configuration file and builds output C language files needed to compile OS source files and to compile and link an application with the specified features During its execution SG reports to the user about the errors The System Generator produces header and source code files that defines all properties and objects in terms of the C language These files are to be compiled and linked together with the user s and OS source code One version of SG is delivered the 32 bit version sysgen exe for Windows 98 and Windows 2000 OSEKturbo OS MPC5x
96. Generation Error Messages List of Messages Period is out of representable range Warning The message is generated if the period size is more than 32 bits Period is defined by prescaler and timer modulo It will be ignored Warning The Period attribute is ignored if Prescaler Value and TimerModuloValue attributes don t have AUTO value The name of OSEK OS property file is not defined explicitly Warning The p option is used to define location of OS property file The name of OSEK OS header configuration file is not defined explicitly Warning The h option is used to define the name of OS header file The name of OSEK OS source configuration file is not defined explicitly Warning The c option is used to define the name of OS source file The name of OSEK ORTI file is not defined explicitly Warning The o option is used to define the name of ORTI file DEBUG_LEVEL equals 0 Option o is ignored ORTI file will not be generated Warning If the DEBUG_LEVEL attribute is set 0 then ORTI is not supported and ORTI file is not generated lt filename gt shall be used for OSEK OS property file name Information If the location of osprop h file is not defined explicitly then by default this file is located in the source OIL file directory The p option is used to define the location of OS property file OSEKturbo OS MPC5xx TR 315 For More Information www freescale com Freescale Semiconductor Inc System G
97. Identifier an abstract identifier of a system object ISR Interrupt Service Routine MGT5x00 MGT5100 or MGT5200 microcontroller MCU Microcontroller Unit N A Not applicable OIL OSEK Implementation Language ORTI OSEK Run Time Interface TR 18 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Introduction Technical Support Information OS Operating System OSEK Open systems and the corresponding interfaces for automotive electronics in German RAM Random Access Memory ROM Read Only Memory SG SysGen System Generator Utility SW Software Technical Support Information To order Motorola Metrowerks products or literature consult your local sales representative For technical support please use US Tel 1 512 997 4700 Fax 1512 997 4901 Email support metrowerks com Europe Tel 41 61 69 07 505 Fax 41 61 69 07 501 Email support_europe metrowerks com Web http www metrowerks com MW Support Download updates at http www metrowerks com MW Support Download OSEKturbo OS MPC5xx TR 19 For More Information www freescale com Freescale Semiconductor Inc Introduction Technical Support Information TR 20 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Operating System Architecture This chapter gives a high level description of the OS architecture and presents the OS Conformance Classes This chapter
98. InfoRef gt a pointer to the structure of CtrInfoType data type with constants of the counter Reference to the CtrInfoType variable can be used instead of the CtrInfoRefType variable Description The service provides the counter characteristics into the structure referenced by lt InfoRef gt For a system counter special constants may be used instead of this service Particularities The service call is allowed on task level ISR level and in ErrorHook PreTaskHook and PostTaskHook hook routines The structure referenced by lt InfoRef gt consists of two elements in case of the Standard Status and of three elements in case of the Extended Status This service is not implemented if no counters are defined in the configuration file The GetCounterInfo service is not defined in the OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS TR 214 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Counter Management Services Status e Standard E_OK no error e Extended E_OS_ID the counter identifier is invalid Conformance BCC1 ECC1 Examples for Counter Management The example shows how CounterTrigger GetCounterValue services can be used The following definitions are made in the definition file COUNTER FirstCnt MAXALLOWEDVALUE TICKSPERBASE 1 MINCYCLE 1 eal
99. JECT gt lt name gt lt attribute gt error lt prefix gt lt message gt TECT gt lt name gt lt attribute gt Fatal Error lt prefix gt lt message gt TR 288 where lt name gt name of corresponding object CPU or object lt OBJECT gt keyword used to identify object type in OIL lt attribute gt name of outermost attribute in some cases all nested attributes are presented through dots Optional present if the message is associated with a particular attribute OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages lt prefix gt component specific prefix EEEF number of message lt message gt short description of the error Below error and warning messages generated by SysGen components are described List of Messages SG0001 SG0002 SG0003 SG0004 SysGen consists of several components which work on different stages of OIL file processing Each component generates messages with specific prefix before the number The following prefixes are used SG for SysGen Engine main component OR for OIL Reader component which reads specified OIL file into internal repository TD for Target Specific DLL which process stored OIL file with target platform awareness SysGen Engine Messages Option v is used ignoring other options Information When v option is defined System Generator is
100. Message MsgA amp msgAbuf w o copy SendMessage MsgB amp msgB with copy Debugging Services Syntax Input Output Description Particularities Conformance Syntax Input Output These services are not defined by OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS GetRunningStackUsage unsigned short GetRunningStackUsage void None e amount of stack used by running task in bytes e OxFFFF if there is not any running task or the task uses single stack The service returns amount of stack used by running task in bytes The service returns OxFFFF for basic task because single stack is used The service is implemented if the value of the StackOverflowCheck attribute is TRUE or the value of the DEBUG_LEVEL attribute is greater than 0 The service call is allowed on task level ISR level and in ErrorHook PreTaskHook and PostTaskHook hook routines BCC1 ECC1 GetStackUsage unsigned short GetStackUsage TaskType lt TaskID gt lt TaskID gt a reference to the task e amount of stack used by task lt TaskID gt in bytes OSEKturbo OS MPC5xx TR 237 For More Information www freescale com System Services Freescale Semiconductor Inc Operating System Execution Control Description Particularities Conformance Syntax Input Output Description Particularities Conformance
101. None This service starts the operation system in a specified mode If a StartupHook is configured the hook routine is always called before starting the application Allowed outside of the operating system only In OSEKturbo this service does not returns to the caller BCC1 ECC1 ShutdownOS void ShutdownOS StatusType lt Error gt lt Error gt a code of the error occurred None The service aborts the overall operating system If a task is in the running state PostTaskHook is not called If a ShutdownHook is configured the hook routine is always called with lt Error gt as argument before shutting down the operating system If ShutdownHook returns the operating system enters OSEKturbo OS MPC5xx For More Information www freescale com Particularities Conformance Syntax Input Output Description Particularities Freescale Semiconductor Inc System Services Operating System Execution Control endless loop with the lowest Power down mode see System Shutdown ShutdownOS never returns ShutdownOS runs in connection with the currently active context which may be unknown to the user Thus no API functions are admitted within the ShutdownHook routine Allowed on task level on ISR level and in StartupHook and ErrorHook hook routines BCC1 ECC1 Hook Routines ErrorHook void ErrorHook StatusType lt Error gt lt Error gt a code of the error occurred No
102. OS for non preemptive scheduling e Successful termination of a task via the TerminateTask system service e Successful termination of a task with explicit activation of a successor task via the ChainTask system service e Explicit call of the scheduler via the Schedule system service e Explicit wait call if a transition into the waiting state takes place via the WaitEvent system service Extended Tasks only In the non preemptive system all tasks are non preemptable and the task switching will take place exactly in the listed cases Full preemptive Scheduling Full preemptive scheduling means that a task which is presently running may be rescheduled at any instruction by the occurrence of trigger conditions preset by the operating system Full preemptive scheduling will put the running task into the ready state as soon as a higher priority task has got ready The task context is saved so that the preempted task can be continued at the location where it was interrupted OSEKturbo OS MPC5xx TR 43 For More Information www freescale com Scheduler Scheduling Policy TR 44 Figure 4 2 Freescale Semiconductor Inc With full preemptive scheduling the latency time is independent of the run time of lower priority tasks Certain restrictions are related to the enhanced complexity of features necessary for synchronization between tasks As each task can theoretically be rescheduled at any location access to data that
103. RTI format This utility analyzes the application configuration and generates ORTI file The same OIL file is used for configuring OS After application is compiled and linked and executable and map files are created then they are loaded by the debugger If the debugger is OSEK aware then it can load also the ORTI file for this application The information from ORTI file provides the debugger with possibility to display information about system objects of current implementation of OSEK OS This process is depicted on Figure 17 1 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Debugging Application General Figure 17 1 Application Building Process with ORTI Support User s Source File OIL File app c o System Generator Application Configuration Files Compiler Linker Executable File MAP File ORTI File OSEK Aware Debugger OSEK Operating System components Data files tm Programs D Third party tools Library OSEKturbo OS MPC5xx TR 249 For More Information www freescale com Freescale Semiconductor Inc Debugging Application Using OS Extended Status for Debugging Stack Debugging Support To provide stack usage control the bottom and top stack labels for Extended Tasks are realized in OSEK OS These labels can be seen in symbol debugger during applica
104. References e Definitions Acronyms and Abbreviations e Technical Support Information OSEK OS Overview The OSEK Operating System is a real time operating system which conforms to the OSEK VDX Operating System v 2 2 10 September 2001 specification The OSEK OS meets the following requirements e The OS is fully configured and statically scaled e The OS performance parameters are well known e The most part of the OS is written in strict correspondence with ANSI C standard the OS and the application on its basis can be easily ported from one platform to another A wide range of scalability a set of system services various scheduling mechanisms and convenient configuration features make the OSEK Operating System feasible for a broad spectrum of applications and hardware platforms The OSEK OS provides a pool of different services and processing mechanisms for task management and synchronization data exchange resource management and interrupt handling The following features are provided for the user Task Management e Activation and termination of tasks e Management of task states task switch Scheduling Policies e Full non and mixed preemptive scheduling techniques OSEKturbo OS MPC5xx TR 15 For More Information www freescale com Introduction OSEK OS Overview TR 16 Freescale Semiconductor Inc Event Control e Event Control for task synchronization Interrupt Management e Services for disabling
105. Rs have higher priority than all tasks and the scheduler Addresses of ISRs should be pointed to in the vector table In OSEKturbo OS MPC5xx in ECC1 class all ISRs of category 2 use the separate stack ISR stack which is used only by ISRs during their execution The size of the ISR stack is defined by the user OSEKturbo OS MPC5xx supports nested interrupts up to 17 levels up to 49 levels if Enhanced InterruptDispatcher is used Since the OS provides the means to switch the stack and to control the interrupt mask such nested interrupts if written correctly could be treated as a single one To not waste a task stack space for nested interrupts or complicated ISR the ISR stack is used According to the OSEK VDX Operating System v 2 2 10 September 2001 specification there are no services for manipulation of CPU and or OS interrupt levels directly Therefore nested interrupts with the same hardware levels can not occur For CPU with one hardware level nested interrupts are forbidden For multilevel OSEKturbo OS MPC5xx TR 47 For More Information www freescale com Freescale Semiconductor Inc Interrupt Processing ISR Categories NOTE modes nested interrupts with different priority are allowed Application is not allowed to manipulate interrupt enabling bits in the CPU state registers If application manipulates directly with CPU registers that control interrupts then OS behavior is unpredictable There is an exception for
106. S i Ab rahn FR eS 267 Datasheets ma a Bee SRI MR T 268 C Memory Requirements 279 Memory for the OSEK Operating System a a a 279 Data Sheet for Diab CC a e a oe GE Goce a a 281 Data Sheet for CodeWarrior a a a a a a a a a 284 D System Generation Error Messages 287 Devenir ls Be hast Ari 287 Error Message Format 4057 00d dd BRO Blak ald A 288 OSEKturbo OS MPC5xx TR 11 For More Information www freescale com Freescale Semiconductor Inc Contents List of Messages sio dra Seca oh ah ae Ge a 289 SysGen Engine Messages spunta ele e e Ma 289 OIL Reader Messages 4 a 4 4 awe al SSL me A 292 Target Specific DLL Messages iL ae we a 305 Index 321 TR 12 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Introduction This Technical Reference describes the OSEKturbo OS MPC5xx a version of the OSEK Operating System OSEK OS for PowerPC providing high speed performance and low RAM usage All the system mechanisms particularities services and programming techniques are described in detail with numerous examples Data for performance characteristics and memory requirements are provided Operating System Architecture chapter gives a high level description of the OS architecture and presents OS Conformance Classes Task Management chapter explains the task concept in OSEK and all other questions related to tasks Scheduler
107. S Ee ACK 22 OSEK OS Overall Architecture 2 o 25 Application Program Interface il a ee a al tae A 26 3 Task Management 29 Task Concept sro o Seta ra Se de e SB 29 Extended Tasks a AA ee AO SS 30 Basie JASE nea dra alae Se eB bee 32 WaSk P HOt ees IR Ardea AD AA AO 33 Tasks St ck s 2 aa oo BoB ERRE oe Rn a 34 Stack Allocation uo a danger lt a a AR 34 Single Stacks el pea pg A Gt Go at ee Ge 34 Programming Issues au ago eo ata Get ae a ees 35 Configuration Options du aurea ala e ee gst b 35 Data I ypes n et hl heh to AA AA 35 Task Definition dea a Ree di 35 R n time aa aid ae e cee A ae de e a 37 Constants aya G s Se Sit ra Sb dao eard et 38 Conventions 0a a a OS A ke ee ee eh 38 4 Scheduler 41 General 2 lt ataca E SOS aghi Sc does PA 41 Scheduling Policy 4 o afro aio ae E 42 Non preemptive Scheduling a a a a 42 Full preemptive Scheduling 2 a a a a 43 Mixed preemptive Scheduling 2 a a a 44 Groups Of asks de Sosi Ai dle SGP du Seas ee Me Ba sl BS ay e d 45 Programming Issues 4 dorso aan Fe me GS eo E RSS 45 Configuration Options necio a lee wai cas FO Atel es Wi ash 45 OSEKturbo OS MPC5xx TR 3 For More Information www freescale com Contents Freescale Semiconductor Inc Run time Services 2 2 2084 5 Interrupt Processing Generale s cco cick a ei AA ISR Categories si dele E A A or eS TSR Category itp de E rudi G te Pl
108. S MPC5xx For More Information www freescale com TD2000 TD2001 TD2002 TD2003 TD2004 TD2006 TD2251 Freescale Semiconductor Inc System Generation Error Messages List of Messages There are no defined ISRs InterruptDispatcher is switched from lt value gt to None Warning If the no ISR objects and no timers are defined in the application definition then InterruptDispatcher attribute s value will be changed to None Only even ISR priorities must be used for timers 0 14 Error PIT and RTC timers for MPC555 can use only even priorities between 0 14 range ISR priority for DEC timer must be equal to lt value gt Error DEC timer for MPC555 must have ISR priority is equal to 16 Only one ISR per priority is allowed for InterruptDispatcher lt value gt Error If the InterruptDispatcher attribute has MultiLevel or OneLevel value then each ISR object must have unique priority Values of RTSEL for PIT and RTC RTC and PIT timers must be equivalent Error They must be either OSCM or EXTCLK both because they represent one hardware bit ISR priorities of Time Base counters must be equal Error The ISRPRIORITY attributes shall have the equal values because they concern to same timer ISR InterruptDispatcher can be defined only for derivative Error The InterruptDispatcher attribute has to be defined as None if the TargetMCU value corresponds CPU family name MPC OSEKturbo OS MPC5
109. SInterrupts pairs are allowed within this critical section The service may be called from an ISR and from the task level but not from hook routines In case of nesting pairs of the calls SuspendOSInterrupts and ResumeOSInterrupts the interrupt recognition status saved by the first call of SuspendOSInterrupts is restored by the last call of the ResumeOSInterrupts service If ErrorHook is defined and STATUS is set to EXTENDED this service calls ErrorHook with E_OS_SYS_ORDER status in case of a wrong sequence of interrupt management functions calls This check is limited to 32 levels of nesting pairs of Suspend Resume functions If no ISRs of category 2 are defined then this service does nothing e Standard None e Extended None BCC1 ECC1 SuspendOSinterrupts void SuspendOSInterrupts void None None This service saves current interrupt state and disables all interrupts of category 2 Interrupts category 1 which priority is not higher than priority of any ISR category 2 are disabled also This service is intended to start a critical section of the code This section must be finished by calling the ResumeOSInterrupts service No API service calls beside SuspendAllInterrupts ResumeAllInterrupts pairs and this is OSEKturbo extension of OSEK OS OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services ISR Management Services SuspendOSInter
110. Sample application are the following e samplets c the application code TASKSND1 TASKSND2 and TASKCNT e samplerv c the application code TASKRCV1 TASKRCV2 and TASKSTOP e sample h header file for the application code e main oil OSEK Implementation Language file platform independent part OSEKturbo OS MPC5xx TR 263 For More Information www freescale com Freescale Semiconductor Inc Sample Application Source Files e cfg555cw oil OSEK Implementation Language file for MPC555 platform for Metrowerks compiler e cfg555db oil OSEK Implementation Language file for MPC555 platform for Diab Data compiler e cfg565cw oil OSEK Implementation Language file for MPC565 platform for Metrowerks compiler e cfg565db 0i1 OSEK Implementation Language file for MPC565 platform for Diab Data compiler e cfg563cw oil OSEK Implementation Language file for MPC561 platform for Metrowerks compiler e cfg563db oil OSEK Implementation Language file for MPC561 platform for Diab Data compiler e msmake bat command file for compiling sample using Microsoft nmake utility e gnumake bat command file for compiling sample using GNU make utility The directory structure of the Sample application is described in the readme txt file located in the sample standard directory To build the executable file the user should make sure that OSEKturbo OS components are properly installed on the disk and paths for the
111. System Generation Error Messages This appendix explains OSEK OS System Generator error messages The System Generator checks the compatibility of properties parameters and limits and reports about possible errors via error messages The error messages can be associated with the wrong syntax mistakes in the implementation definition wrong definitions of the application objects This appendix consists of the following sections Severity Level e Error Message Format e List of Messages Severity Level NOTE The messages vary in their severity level they can be one of the following types information warning error fatal error Usually an information message attends other type of error message and contains reference to necessary information associated with error situation A warning message only prevents about possible error If an error message is detected than the operation that should be started after the current one is will not be executed For example if the error messages were found in project verification the configuration file will not be generated however project settings check will be continued When a fatal error message is found than anyone of build command is terminated All warning messages or some types of them can be suppressed by using the w option OSEKturbo OS MPC5xx TR 287 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages Error Messa
112. SystemTimer and SecondTimer configured both as a HWCOUNTER then one System Timer ISR is used for both as they are sharing the same interrupt request Other values correspond to ISRs of category 2 defined in the OIL file The next scheme is used for ISR tracing running ISR attribute has TASK_LEVEL value when OS works at task level When one of ISRs category 2 starts execution the value of running ISR is changed to ISR identifier When SystemTimer ISR gets CPU the value of running ISR is changed to SYSTEM_TIMER When ISR terminates and OS returns to task level running ISR gets value TASK_LEVEL If nested ISR terminates and OS returns to previous ISR the running ISR is changed to ISR_LEVEL e current service This attribute specifies which operating service if any is currently being executed The current service attribute value presents a one byte memory block which represents a service numeric identifier TR 252 OSEKturbo OS MPC5xx For More Information www freescale com Table 17 1 Freescale Semiconductor Inc Debugging Application ORTI Features This value is updated with OSEK OS service Service identifier with least signicant bit set when CPU enters Service code In case of leaving OSEK OS service the attribute value is set to service indentifier with least signicant bit cleared thus indicating end of service The attribute is updated with such value on the following events occurred CPU leaves OSEK OS ser
113. T 113 100 T 8 C 2076 12 T 8 C 3 100 T 12 C 24 3112 12 T 8 C 12 A 113 100 T 16 M 2220 12 T 12 M 113 100 T 20 M 2412 12 T 16 M 113 100 T 24 M 2356 12 T 20 M 125 104 T 2124 12 T 1 R 126 104 T 3108 12 T 1 R 142 104 T 3432 12 T 1 R TR 282 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Memory Requirements Data Sheet for Diab CC Table C 1 Operating System Memory Requirements Diab CC Confor Num System Properties mance ber configuration Class RAM ROM 30 Changed ECC1 130 104 T 3280 12 T 1 R Resource referenced by ISR OSEKturbo OS MPC5xx TR 283 For More Information www freescale com Freescale Semiconductor Inc Memory Requirements Data Sheet for CodeWarrior Data Sheet for CodeWarrior Table C 2 Operating System Memory Requirements CodeWarrior Num ber System Properties configuration Confor mance Class RAM ROM 0 Initial 1 Initial SCHEDULE NON for all tasks 2 Initial SCHEDULE NON for one task and FULL for other one Changed STATUS E EXTENDED Changed ERRORHOOR TRUE Changed USEGETSERVICEID E USEPARAMETERACCESS TRUE Initial Counter defined Changed arm wit ACTION ACTIVATETASK defined Initial Message with ACTION NONE defined Initial Message with ACTION
114. T ype The constant is assigned to one of the application modes defined in the OIL file This constant is always a valid parameter for StartOS service The following constants are used within the OSEK Operating System to indicate system status All of them have type StatusType Status meaning is specified in service descriptions e E OK e E_OS_ACCESS e E OS_CALLEVEL e E OS ID e E OS_LIMIT e E OS_NOFUNC e E OS RESOURCE e E OS STATE e EOS _ VALUE e E OS SYS STACK e E OS SYS ORDER e E OS SYS MAINSTACK e E OS SYS ISRSTACK e E COM_ID e E COM_LOCKED e E COM_BUSY e E COM_NOMSG e E COM_LIMIT E OS _SYS_xxx are not defined in the OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS OSEKturbo OS MPC5xx TR 239 For More Information www freescale com System Services Freescale Semiconductor Inc Operating System Execution Control Syntax Input Output Description Particularities Conformance Syntax Input Output Description Particularities Conformance Syntax Input Output Description TR 240 GetActiveApplicationMode AppModeType GetActiveApplicationMode void None Current application mode This service returns the current application mode Allowed on task level on ISR level and in all hook routines BCC1 ECC1 StartOS void StartOS AppModeType lt Mode gt lt Mode gt an operating mode
115. Table 3 2 States and Status Transitions for a Basic Task Former Transition state New state Description activate suspended ready A new task is entered into the ready list by a system service start ready running A ready task selected by the scheduler is executed preempt running ready The scheduler decides to start another task The running task is put into ready state terminate running suspended The running task causes its transition into suspended state by a system service TR 32 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Task Management Task Priorities Figure 3 2 Status Model with Task Transitions for a Basic Task running terminate preempt Task Priorities The OSEK OS specifies the value 0 as the lowest task priority in the operating system Accordingly bigger numbers define higher task priorities The task priorities defined in OIL are not intersected with ISR priorities Interrupts have a separate priority scale All task priorities are lower than any ISR priorities and the scheduler priority In the OSEK OS the priority is statically assigned to each task and it cannot be changed at run time A dynamic priority management is not supported However in particular cases the operating system can change task priority In this context please refer to Priority Ceiling Protocol OSEKturbo OS MPC5xx TR 33 For More Infor
116. The numbers shall be unique e StepTime UINT32 This OSEKturbo specific attribute specifies time to next task activation in measurement units chosen by means of the TimeUntt attribute e TASK reference The reference specifies the task to be activated TR 122 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OS Definition Interrupt Related Properties This group of attributes defines parameters of ISR execution The attributes should be defined inside the scope of the OS object in accordance with the following syntax default attribute value are shown in bold type UnorderedExceptions lt TRUE FALSE gt InterruptDispatcher lt None OneLevel MultiLevel Enhanced gt e UnorderedExceptions BOOLEAN The attribute specifies either unordered exception handling is supported or not To be able to recover from PowerPC unordered exceptions it is necessary to manipulate with MSR RI bit during exception prologue epilogue and during task context switch If this attribute is TRUE then OS will set MSR RI bit after saving SRRO and SRR1 registers and will clear MSR RI bit before loading SRRO and SRRI registers during ISR prologue epilogue and task context switch OSEKturbo OS MPC5xx itself does not use RI bit but it may be necessary to set UnorderedExceptions to TRUE for some debuggers to work properly e InterruptDispatcher ENUM The attribute specifies
117. U registers See Low Power Mode for details of registers usage e PRETASKHOOK and POSTTASKHOOK if they are set to TRUE then the system performance is decreased even if corresponding routines PreTaskHook and PostTaskHook are empty because the OS calls them at each task switch e ERRORHOOK if set to TRUE then the system performance is decreased if STATUS or StackOverflowCheck are also set to TRUE e USEGETSERVICEID and USEPARAMETERACCESS if any of them is set to TRUE and ERRORHOOK is set to TRUE too then system performance is decreased The following attributes of RESOURCE object directly affect OS performance e RESOURCEPROPERTY if this attribute is set to INTERNAL then the system performance is decreased because OS spends additional time for setting and releasing priorities of tasks when switching occurs The best system performance may be achieved by leaving all mentioned in this section attributes with their default values except FastTerminate and FastScheduler which shall be explicitly set to TRUE OSEKturbo OS MPC5xx TR 141 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OSEKturbo Performance Dependency TR 142 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 13 Building of Application This chapter contains information on how to build an user s application using OSEK OS It also describes memory requi
118. UNQUEUED CDATATYPE MSGA ACTION SETEVENT EVENT MYEVENTMSGA TASK TASKA MESSAGE MsgB TYPE QUEUED QUEUEDEPTH 5 CDATATYPE MSGB ACTION ACTIVATETASK TASK TASK_B EVENT MYEVENTMSGA MASK AUTO The C language code can be the following OSEKturbo OS MPC5xx For More Information www freescale com TR 235 Freescale Semiconductor Inc System Services Communication Management Services typedef struct int msg MSGA data type for MsgA typedef struct int num char data MSGB data type for MsgA TASK TASK A MSGA msgA ClearEvent MYEVENTMSGA WaitEvent MYEVENTMSGA ReceiveMessage MsgA amp msgA with copy received data in msgA may be freely used TASK TASK_B i int rnum char rdata MSGB msgB ReceiveMessage MsgB amp msgB receive with copy rnum msgB num get data from message rdata msgB data TerminateTask int msgNum 0 number for MsgB TASK TASK_C MSGB msgB msgAbuf msg MyIntData pu msgB num msgNum pu some data into message number into message copy ct ct TR 236 OSEKturbo OS MPC5xx For More Information www freescale com msgNum Freescale Semiconductor Inc System Services Debugging Services msgB data MyCharData put data into message copy Send
119. UTO The attribute specifies the conformance class which is supported by the OS However all features of the OS may be selected by means of using other OS additional properties Therefore even for given conformance class the functionality may be reduced or increased according to user s needs If the value is AUTO then conformance class is defined according to TASKs definitions e DEBUG_LEVEL ENUM This OSEKturbo specific attribute specifies the ORTI support in OS If the system has the DEBUG_LEVEL 0 ORTI is not supported If the attribute is set to 1 or higher the static ORTI mode is turned on If the attribute is set to 2 static and run time ORTI running task and system calls identification modes will be used If the attribute is set to 4 then dynamic and static ORTI and debugging services are implemented See Debugging Application for details e BuildNumber BOOLEAN This OSEKturbo specific attribute specifies whether build number in ASCII form should be incorporated into OS binary image ROM code or not If BuildNumber is set to FALSE then the user shall remove OsBuildNumber entry from linker command file which is generated from makefile for CodeWarror compiler OSEKturbo OS MPC5xx TR 115 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OS Definition e FastTerminate BOOLEAN This OSEKturbo specific attribute specifies whether the fast versions of Termin
120. _IRQ 3 41 EXT_IRQ 1 40 Level 1 39 IMB_IRQ 4 38 IMB_IRQ 5 37 IMB_IRQ 6 36 IMB_IRQ 7 35 EXT_IRQ 2 34 Level 2 33 IMB_IRQ 8 32 IMB_IRQ 9 31 IMB_IRQ 10 30 IMB_IRQ 11 29 EXT_IRQ 3 28 Level 3 27 IMB_IRQ 12 OSEKturbo OS MPC5xx TR 131 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition ISR Definition Table 12 2 ISR Priority and Interrupt Sources for MPC565 563 561 ISR PRIORITY Interrupt sources 26 IMB_IRQ 13 25 IMB_IRQ 14 24 IMB_IRQ 15 23 EXT_IRQ 4 22 Level 4 21 IMB_IRQ 16 20 IMB_IRQ 17 19 IMB_IRQ 18 18 IMB_IRQ 19 17 EXT_IRQ5 16 Level 5 15 IMB_IRQ 20 14 IMB_IRQ 21 13 IMB_IRQ 22 12 IMB_IRQ 23 11 EXT_IRQ6 10 Level 6 9 IMB_IRQ 24 8 IMB_IRQ 25 7 IMB_IRQ 26 6 IMB_IRQ 27 5 EXT_IRQ7 4 Level 7 3 IMB_IRQ 28 2 IMB_IRQ 29 1 IMB_IRQ 30 0 IMB_IRQ 31 For more detailed information about MPC565 563 561 enhanced interrupt controller see MPC565 563 561 User s Manual ISRs which have interrupt source beside interrupt controller in case Enhanced Interrupt Controller using have to have PRIORITY 48 for MPC565 563 561 TR 132 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition Resource Definition RESOURCE reference The reference specifies resource accessed by the ISR There can be several RESOURCE references This pa
121. a set events and the mask of events the task is waiting for wait mask When the Extended Task is activated all its events are cleared An Extended Task can wait for several events simultaneously and setting at least one of them causes the task to be transferred into the ready state When a task wants to wait for one event or several ones the corresponding bits in its wait event mask are set by the system service WaitEvent which is designed to force a task to wait OSEKturbo OS MPC5xx TR 79 For More Information www freescale com Events Events and Scheduling Freescale Semiconductor Inc for an event When another task sets an event it sets the specified bits of the set event mask and if some bits in both wait and set masks are the same the task is transferred into the ready state The task can clear its own events in the set event mask using ClearEvent service All tasks can set any events of any Extended Task Only the appropriate Extended Task the owner of the particular event mask is able to clear events and to wait for the setting receipt of events Basic Tasks must not use the operating system services for clearing events or waiting for them An alarm can also be set for an Extended Task which in turn sets an event at a certain time Thus the Extended Task can delay itself see example in Examples of Using Events It is not possible for an interrupt service routine
122. a Counters and Alarm Generation Run time Services Constants a 00 o pm Beas Ge Be Modes he we BE A A 8 Events Generalis cn E ACES BA ack a hin wee Events and Scheduling ou aa ua eee a Programming ISSUES E ge ty AA de Configuration Options 2 a ee Data bog pesta pt E e Eee ee Events Definition 8 Run time Services 9 Communication Message Concept Gui pala a GAR Sok Go ae a Unqueued Messages gt wise padane Gree aS Queued Messages pa doar GH Os a Data Consistency 2 tne ap doe Sd ee a FI Programming Issues 9 2 01 390 Ge ee eS Configuration Options at aa At oS Identifiers arpa fs te erand sen a i la Message Definition i e cate ce e a Se Run time Services e Lug Go a eae Gs Callback Function AAA Usage of Messages are ia a ee 10 Error Handling and Special Routines General se mi aie a a era Ae ee E Hook Routines sessi Ss a a a Error Handling sosia a Lake Dit ee Error Interface apo Ge ea ee as Macros for ErrorHook 2 2 2 Extended Status 2 45 3 asa a e Possible Error Reasons 2 48 Start up Routine ale Ki Rak ace ASA Application Modes os ila amp AS A System Shutdown oa RA A aes Goes OSEKturbo OS MPC5xx For More Information www freescale com Contents Freescale Semiconductor Inc Contents Programming Issues unitarie e a A ete A a eg 102 Configuration Options a a a 2
123. about specified container Wrong license Fatal Error The error message is generated if OSEKTURBO or FULL feature is not defined in the OSEK OS license Also license file can be corrupted For more detailed information see Flex License Manager documentation Cannot open template file lt filename gt Fatal Error The System Generator cannot open template file for use 1f the template file which name defined in the Windows Registry does not exist or you do not have permission to open the file or directory OSEKturbo OS MPC5xx TR 291 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 292 SG5002 SG5003 SG5004 OR0000 OR0002 OR0003 OR0004 Cannot open output file lt filename gt Fatal Error The output file cannot be opened if there is no enough free disk space or there is no appropriate permission to create or write the output file Template file lt filename gt is corrupt or invalid Fatal Error The contents of the template file are corrupt Cannot write output file lt filename gt Possibly not enough space on drive Fatal Error The output file cannot be written if there is no enough free disk space or there is no appropriate permission to write the output file OIL Reader Messages Cannot open input file Fatal Error The file does not exist or you do not have permission to open the file or directory Unterminat
124. aced in user application and its name added to ALARM object definition as value of ALARMCALLBACKNAME attribute The alarm callback is the usual user s function It can have neither parameter s nor return value Only the SuspendAllInterrupts and ResumeAllInterrupts services may be used within alarm callback No other OS services shall be called TR 70 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Counters and Alarms TimeScale The callback function shall have next definition ALARMCALLBACK CallbackName user application code TimeScale OSEKturbo OS provides a special feature for fast tasks activations in accordance with statically defined schedule named TimeScale User can define in a configuration file a sequence of tasks to be cyclically activated at predefined time points TimeScale always uses the System Timer which must be defined as a HWCOUNTER in this case Only one task may be activated at each Step of TimeScale but the StepTime of any Step may be set to 0 to achieve a simultaneous activation of two or more tasks TimeScale has a better performance than cyclic Alarms because of simplified algorithm and reduced system overhead System Timer can not be used for TimeScale and Alarms simultaneously Programming Issues Configuration Options The following system configuration options affect the counter and alarm management e SysTimer If this
125. agement Services ReceiveMessage Syntax StatusType ReceiveMessage SymbolicName lt Message gt AccessNameRef lt Data gt Input lt Message gt symbolic name of the message object Output lt Data gt the reference to the message data to be received Description Unqued and Queued WithCopy message This service delivers the message data associated with the message object lt Message gt to the applications message copy referenced by lt Data gt The message object is locked during data reception This service also updates the status information of the message object accordingly Unqueued WithoutCopy message Returns Status only since application can access directly to the message object Particularities Unqueued messages e The service returns the current message e If no new message has been received since the last call to ReceiveMessage the current message is returned Allowed for all message types on task level and in message s callback function Unqueued messages in case of WithCopy only are allowed on ISR level and in ErrorHook routine Status e Standard E_OK no error E_COM_LOCKED message object locked other task or ISR is sending or receiving the same message or this message resource is occupied E_COM_NOMSG the queued message identified by lt Message gt is empty E_COM_LIMIT an overflow of the FIFO of the queued message identified by lt Message gt occurred since the las
126. alue Error The NO_DEFAULT specifier is defined for the attribute in OIL file but in the corresponding implementation this attribute does not have this specifier ORS5051 Attribute must have NO DEFAULT value Error The NO_DEFAULT specifier is not defined for the attribute in OIL file but the corresponding implementation definition file specify it for this attribute OR5060 Object not defined Error The object is defined in the implementation definition file but it is absent in the appropriate OIL file OR5061 Attribute not defined TR 304 Error The attribute is defined in the implementation definition file but it is absent in the appropriate OIL file OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages OR5062 Depended attribute group for value lt value gt is absent Error The values of subattributes shall be defined if these parameters do not have default values in the implementation definition ORS101 Can t create mode lt name gt ignored TD0001 TD0006 TD0007 TD0023 Warning The message is generated when OIL file was converted from 2 0e OIL format to 2 1 format Application mode in 2 1 OIL format contains only references to tasks defined in the application APPMODE object is not created Target Specific DLL Messages Wrong license Fatal Error The error message is generated if OSEKTUR
127. and RAM directly used by various versions of the OSEK OS This appendix consists of the following sections e Memory for the OSEK Operating System e Data Sheet for Diab CC e Data Sheet for CodeWarrior r the OSEK Operating System The table below contains the data about ROM and RAM needed for the OSEK Operating System kernel and system objects The amount of memory depends on the system configuration and on the number of certain objects e g tasks counters etc The table does not reflects all possible configurations so the overall number of them is too big Therefore only some most important configurations are presented The following initial system property settings were used to determine memory requirements CC BCCl STATUS S STARTUPHOO SHUTDOWNHO PRETASKHOO POSTTASKHO ERRORHOOK TANDARD K FALSE OK FALSE K FALSE OK FALSE FALSE USEGETSERV CEID FALSE USEPARAMET ResourceSc FastTermin FastSchedu MessageCop ACTIVATION ERACCESS FALSE heduler FALSE ate TRUE ler TRUE vAllocation USER 1 for all TASK objects OSEKturbo OS MPC5xx TR 279 For More Information www freescale com Freescale Semiconductor Inc Memory Requirements Memory for the OSEK Operating System SCHEDULER FULL for all TASK objects ISR category 2 not defined This initial property list was used for the first row in the table It
128. are not in suspended state 64 Number of events per task 32 Number of resources including RES_SCHEDULER 255 Number of Apllication Modes 8 Number of other OSEK objects alarms messages counters 254 TR 24 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Operating System Architecture OSEK OS Overall Architecture OSEK OS Overall Architecture The OSEK OS is a real time operating system which is executed within a single electronic control unit It provides local services for the user s tasks The OSEK OS consists of the following components e Scheduler controls the allocation of the CPU for different tasks e Task management provides operations with tasks e ISR management provides entry exit frames for interrupt service routines and supports CPU interrupt level manipulation e Resource management supports a special kind of semaphore for mutually exclusive access to shared resources Local communication provides message exchange between tasks e Counter management provides operations on objects like timers and incremental counters e Alarm management links the tasks and counters e Error handlers handle the user s application errors and internal errors and provide recovery from the error conditions e Hook routines provide additional debugging features e System start up initializes the data and starts the execution of the applications System timer provides
129. are used jointly with other tasks must be synchronized In a full preemptive system all tasks are preemptable Full preemptive Scheduling activation of task T1 termination of task T1 Task T1 suspended running suspended Task T2 running ready running termination of task T2 Mixed preemptive Scheduling If full preemptive and non preemptive scheduling principles are to be used for execution of different tasks on the same system the resulting policy is called mixed preemptive scheduling The distinction is made via the task property preemptable non preemptable of the running task The definition of a non preemptable task makes sense in a full preemptive operating system in the following cases e if the execution time of the task is in the same magnitude of the time of a task switch e if the task must not be preempted Many applications comprise only a few parallel tasks with a long execution time for which a full preemptive scheduling policy would be convenient and many short tasks with a defined execution time where non preemptive scheduling would be more OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Scheduler Programming Issues efficient For this configuration the mixed preemptive scheduling policy was developed as a compromise Groups of Tasks The operating system allows tasks to combine aspects of preemptive and non preemptive sch
130. ask Management Services System Services Task Management Services The example below shows use of all OSEK OS task management services PreTaskHook is used to count switches to tasks Three tasks are declared in the OIL configuration file OS oslf PRETASK Li TASK TaskA HOOK TRUE PRIORITY 3 SCHEDULE FULL AUTOSTART TRUE ACTIVATION 1 y TASK TaskB PRIORITY 2 SCHEDULE FULL AUTOSTART FALSE ACTIVATION 1 STACKSIZE 256 EVENT EventTaskB TASK TaskC PRIORITY 1 SCHEDULE NON AUTOSTART TRUE ACTIVATION 1 STACKSIZE 256 EVENT EventTaskC The C language example file int CntTaskA OSEKturbo OS MPC5xx For More Information www freescale com TR 187 Freescale Semiconductor Inc System Services Task Management Services int CntTaskB int CntTaskC void PreTaskHook void GetTaskId amp task switch task increment corresponding counter case TaskA CntTaskA break case TaskB CntTaskB break case TaskC CntTaskC break TASK Taska TaskType task any user s code ActivateTask TaskB activate TaskB bos any user s code ChainTask TaskC TASK TaskB TaskStateType state any user code GetTaskState TaskC amp s
131. askStateType for task state ready SUSPENDED constant of data type TaskStateType for task state suspended The following constant is used within the OSEK OS to indicate task e INVALID_TASK constant of data type TaskType for undefined task Conventions Within the application of the OSEK OS a task should be defined according to the following pattern TASK lt name of task gt The name of the task function will be generated from lt name of task gt by macro TASK OSEKturbo OS MPC5xx TR 181 For More Information www freescale com System Services Freescale Semiconductor Inc Task Management Services Syntax Input Description Particularities Conformance Syntax Input Output Description Particularities Status Conformance TR 182 Task Declaration The constructional statement DeclareTask may be used for compatibility with previous OSEK versions It may be omitted in application code DeclareTask lt name of task gt lt name of task gt a reference to the task This is a dummy declaration There are no need for this declaration because all system objects are defined at system generation phase BCC1 ECC1 ActivateTask StatusType ActivateTask TaskType lt TaskID gt lt TaskID gt a reference to the task None The specified task lt TaskID gt is transferred from the suspended state into the ready state The service may be
132. ata consistency is guaranteed using access with copy or using external synchronization mechanisms e g events Programming Issues Configuration Options e MessageCopyAllocation This OSEKturbo specific attribute specifies whether System Generator generates copies of messages in global memory or message copies are allocated by the user Identifiers The following names are used in the OSEK Operating System for work with messages e SymbolicName This is an unique name representing a message It only can be used in conjunction with calls of the message service A SymbolicName need not be a data type Variables or constants of SymbolicName can be declared or used e AccessName This is a unique name defining access to a message object Depending on the chosen configuration a distinction is made between the following AccessName scheme OSEKturbo OS MPC5xx TR 89 For More Information www freescale com Freescale Semiconductor Inc Communication Programming Issues WITHCOPY configuration A application variable exists as a copy of the message The name of the variable is the AccessName This variable contains a copy of the corresponding message object WITHOUTCOPY configuration The message object data is accessed via the AccessName This AccessName is a static link it refers directly to the message object data The AccessName refers to the same data RAM as the message object e AccessNameRef This is the address of th
133. ate ChainTask is used in BCC1 class e FastScheduler BOOLEAN This OSEKturbo specific attribute specifies whether the OS places global variabnles used by scheduler into the CPU general purpose registers e MessageCopyAllocation ENUM This OSEKturbo specific attribute specifies whether System Generator generates copies of messages in global memory or message copies are allocated by the user The user can place copies of messages either in global memory or in local memory This attribute affects all message copies in the application e ResourceScheduler BOOLEAN This OSEKturbo specific attribute specifies whether RES_SCHEDULER should be supported or not CPU Related Attributes This group of attributes provides with possibility to tune the selected hardware The attributes should be defined inside the scope of the OS object in accordance with the following syntax default attribute value are shown in bold type TargetMCU lt MPC MPC555 MPC565 MPC563 MPC561 gt ClockFrequency ClockDivider 1 ClockMultiplier lt integer 1 gt SysTimer lt HWCOUNTER SWCOUNTER NONE gt COUNTER lt name of COUNTER gt SRPRIORITY lt integer gt Period lt integer AUTO gt TimerHardware lt name of hardware timer gt Prescaler lt USER OS gt Value lt integer AUTO gt y TimerModuloValue lt integer AUTO gt Freeze lt TRUE FALSE gt RISEL lt EXTCLK OSCM gt lt integer 40
134. ation www freescale com Freescale Semiconductor Inc Error Handling and Special Routines Error Handling For example OSError_ActivateTask_TaskID returns the task identifier if ErrorHook was called because of error detected in ActivateTask To work with the OSErrorGetServiceld macro the user has to set the USEGETSERVICEID attribute to TRUE To work with macros for parameter access the USEPARAMETERACCESS attribute shall be set to TRUE The list of service identifiers and macros for parameter access are provided in Quick Reference section of the OSEKturbo OS MPC5xx v 2 2 1 User s Manual Extended Status The OSEK Operating System version with Extended Status requires more execution time and memory space than the release version due to the additional plausibility checks it offers However many errors can be found in a test phase After they have all been eliminated the system can be recompiled with Standard Status to the release version The following example can illustrate Extended Status usage e Ifa task is activated in the release version only OK is returned In the Extended Status version the additional status like Task not defined Task already activated can be returned These extended messages must no longer occur in the target application at the time of execution i e the corresponding errors are not intercepted in the operating system s release version Possible Error Reasons Errors in th
135. attr_range gt lt attr_name gt lt default_value gt lt multiple_specifier gt The attribute type and attribute value range if it exists shall be defined The range of attribute values can be defined in two ways either the minimum and maximum allowed attribute values are defined the 0 12 style or the list of possible attribute values are presented like C enumeration type The WITH_AUTO specifier can be combined with any type If WITH_AUTO can be specified it means that this attribute can have the value AUTO and the possibility of automatic assignment Data types defined for OIL are listed below Note that these data types are not necessarily the same as the corresponding C data types OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Configuration OIL Concept e UINT32 any unsigned integer number possibly restricted to a range of numbers This data type allows to express any 32 bit value in the range of 0 2 7 1 e INT32 any signed integer number in the range of 2 2 1 UINT64 any unsigned integer number in the range 0 2 1 e INT64 any signed integer number in the range 2 2 1 e FLOAT any floating point number according to IEEE 754 standard Range 1 176E 38 to 3 402E 38 e ENUM the list of possible values shall be presented Any value from the list can be assigned to an attribute of this type ENUM
136. by OSEK OS that are to be written by the user In this section error handling at the system configuration stage is not considered it is described in System Objects Definition Hook Routines The OSEK Operating System supports system specific hook routines to allow user defined actions within the OS internal processing These hook routines in OSEK OS are OSEKturbo OS MPC5xx TR 93 For More Information www freescale com Freescale Semiconductor Inc Error Handling and Special Routines Hook Routines TR 94 Called by the operating system in a special context depending on the implementation of the operating system Can not be preempted by tasks not interrupted by category 2 interrupt routines Using an implementation dependent calling interface Part of the operating system but user defined Implemented by the user Standardized in interface per OSEK OS implementation but not standardized in functionality environment and behavior of the hook routine itself therefore usually hook routines are not portable Only allowed to use a subset of API functions Optional In the OSEK OS hook routines are intended for System startup The corresponding hook routine StartupHook is called after the operating system startup and before the scheduler is running Tracing or application dependent debugging purposes as well as user defined extensions of the context switch Error handling The corresponding hook routine Err
137. c System Service Timing Data Sheet Table B 1 Run time Services Timing Characteristics CodeWarrior Diab CC Configuration Conditions Timing Latency Timing Latency cycles Hs cycles Hs cycles Hs cycles Hs WaitEvent CC ECC1 Event was 28 0 7 8 0 2 36 0 9 8 0 2 SCHEDULE already set NON task remains for all tasks running an event defined Task becomes 164 4 1 144 13 6 168 4 2 140 13 5 waiting CC ECCI Event was 28 0 7 0 0 36 0 9 8 0 2 an event already set defined task remains running Task becomes 172 4 3 140 3 5 168 4 2 140 3 5 waiting SendMessage an unqueued Message size 188 4 7 24 0 6 124 3 1 20 0 5 message with 16 bytes copy ReceiveMessage an unqueued Message size 188 4 7 28 0 7 124 3 1 24 0 6 message with 16 bytes copy InitCounter a counter 8 0 2 0 0 12 0 3 4 0 1 defined CounterTrigger a counter 68 1 7 36 0 9 60 1 5 32 0 8 defined 1 alarmis set Alarm is not 128 3 2 96 2 4 100 2 5 68 1 7 to a counter expired Notified task 160 4 124 3 1 132 3 3 104 2 6 becomes ready Notified task 188 4 7 152 3 8 160 4 132 3 3 becomes running OSEKturbo OS MPC5xx TR 273 For More Information www freescale com System Service Timing Freescale Semiconductor Inc Data Sh
138. configuration stage through the RESOURCE definition see Resource Definition The resource must be referenced in all the TASKs and ISRs which can occupy it A special TR 58 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Resource Management Access to Resources resource RES_SCHEDULER is referenced and can be used by any TASK by default After that the task or ISR can occupy and release the resource using the GetResource and ReleaseResource services While the resource is occupied i e while the code between these services is executed this resource cannot be occupied by another task or ISR In the OSEK Operating System the resources are ranked by priority The priority which is statically assigned to each resource is called Ceiling Priority The resource priority is calculated automatically during the system generation It is possible to have resources of the same priority but the Ceiling Priority of the resource is higher or equal to the highest task or ISR priority with access to this resource Restrictions when using resources TerminateTask ChainTask Schedule and WaitEvent must not be called while a resource is occupied The interrupt service routine must not be completed with the resource occupied The OSEK strictly forbids the nested access to the same resource In the rare cases when the nested access is required it is recommended to use a second resource with the same
139. conforms to the BCC1 Conformance Class without any additional mechanisms and this is the minimal OSEK OS configuration The rows below reflects memory requirements for the next Conformance Classes System properties are shown in the rows which are turned on for the corresponded Conformance Class All other rows below the first one Initial has a title Initial or Changed and one or more options turned ON or OFF If a row has a title Initial it means that for such OS configuration the Initial property list is used with particular options changed as shown If a row has a title Changed it means that for such OS configuration the setting list as for the previous row is used with particular options changed as shown Thus the system functionality grows up Since each system object a task a message an alarm etc requires some ROM and RAM the total amount of memory depends on the number of objects Therefore the formulas should be used to calculate the exact memory amount for each case These formulas are provided in the table Data presented in the table do not include ISR stacks for RAM and the MCU startup code task functions and the vector table for ROM In the formulas in the table the following symbols are used e Tis the number of Tasks e P is the number of priorities Tasks Resources e R is the number of Resources without RES_SCHEDULER e IR is the number of Resources with ISR priority e Cis the nu
140. consists of the following sections e Processing Levels e Conformance Classes e OSEK OS Overall Architecture e Application Program Interface Processing Levels The OSEK Operating System provides a pool of different services and processing mechanisms It serves as a basis for application programs which are independent of each other and provides their environment on a processor The OSEK OS enables controlled real time execution of several processes which virtually run in parallel The OSEK Operating System provides a defined set of interfaces for the user These interfaces are used by entities competing for the CPU There are two types of entities e Interrupts service routines managed by the Operating System e Tasks basic tasks and extended tasks The highest processing priority is assigned to the interrupt level where interrupt service routines ISR are executed The interrupt services may call a number of operating system services The processing level of the operating system has the priority immediately below the former one This is the level on which the operating system works task management procedures scheduler and system services Immediately below there is the task level on OSEKturbo OS MPC5xx TR 21 For More Information www freescale com Freescale Semiconductor Inc Operating System Architecture Conformance Classes which the application software is executed Tasks are executed according to thei
141. ct descriptors are created automatically These OSEKturbo OS MPC5xx TR 143 For More Information www freescale com Freescale Semiconductor Inc Building of Application Action Sequence to Build an Application files provide the code for all required ROM and RAM structures arrays tables variables etc for all system objects defined in the configuration file Memory allocation is performed during start up procedure Action Sequence to Build an Application TR 144 To build an application using the OSEK Operating System the user should perform a set of actions These actions are relatively simple since the most important requirement is a clear understanding of the application s algorithm The actions include creating the application configuration file processing this file by the System Generator writing the user s source code compiling all files and linking the application files together with the OSEK OS code This process is shown in Figure 13 1 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Building of Application Action Sequence to Build an Application Figure 13 1 Application Building Process Application configuration file User s source code System Generator T Files produced by SG alee Executable file user defined files files produced by S
142. ctor Inc Alarm Management Services 0 0 0 Data Types and Identifiers 6a ea en RM Constants a hE 4 leto SLR Me Ae ae e RR e gS Alarm Declaration rue edo e he we GL aR Mo A GetAlarmBase da Gue dle ul dre Gees a a GetAlarm DIL Se BS Ae e perkel Alani 60 Pilati ce ees Ve le n a SetAbsAlarm E A AA n gii CancelAlarm 4 dici BGO teen dl a La startlimescales e perito mao A iaee ae Ret Siopilimebedler de da AO AN Examples for Alarm Management a a u a a a a Communication Management Services Data Types and Identifiers lt a la a Ra Se dMessage n ca at ets set o A ane as Ra SE oe ade A INCCEIVE VICSSA CE q sanatio n Beak Be PLAS Hs he GE So ero GetMessageResource uu e da a Gea deh ar ee A ee ReleaseMessageResource 2 2 2 2 ee ee GetMiessapeStatuSsiz shy io ag Lavorgna ote ey eh O a er Qos BR eae BR Oe e es ahs Be e RP Googe e GD ICONE 5d a ee Hie LD th OA eg Se INA CIOSEGOMI et acoso a ati do aay Se ihe tere ee Bese OR Boece Y SOPEOM 4 sog PA hear ah Dea a EA A Nessagelnit s ai og win BR be A de Shwe Be oh A INCA ENA Cs Sy porla MS OY os de in Chey eggs e ah a ee ResetClas de As ie Bodo at Go oy Ai Rigore e a era i Examples of Using Messages Debugging Services aldo du wow de a de ar A e GetRunningStackUsage GetStackUsage 0 ee Lai A Bo So ev a Se A Gettimeo tmp 0 0 ng e a Ves Seg na Operating System Execution Control
143. cupies the processor performing an endless loop until the ISR awakes a task to be executed It is possible to call a special user s hook from the scheduler idle loop This property is turned on via the system configuration option IdleLoopHook An instruction that puts the CPU in low power mode may be inserted into idle loop to reduce power OSEKturbo OS MPC5xx TR 41 For More Information www freescale com Scheduler Scheduling Policy Freescale Semiconductor Inc consumption This property is turned on via the system configuration option HCLowPower The scheduler can be treated as a specific resource that can be occupied by any task See Scheduler as a Resource for details The scheduling policy and some scheduler related parameters are defined by the user see Global System Attributes Scheduling Policy TR 42 The scheduling policy being used determines whether execution of a task may be interrupted by other tasks or not In this context a distinction is made between full non and mixed preemptive scheduling policies The scheduling policy affects the system performance and memory resources In the OSEK Operating System all listed scheduling policies are supported Each task in an application may be preemptable or not It is defined via the appropriate task property preemptable non preemptable Note that the interruptability of the system depends neither on the Conformance Class nor on the scheduling polic
144. d E_OK no error e Extended E_OS_ID the counter identifier is invalid or belongs to hardware counter BCC1 ECC1 GetCounterValue StatusType GetCounterValue CtrRefType lt CounterID gt TickRefType lt TicksRef gt lt CounterID gt a reference to the counter lt TicksRef gt a pointer to counter value in ticks Reference to TickType variable can be used instead of TickRefType variable The system service provides the current value of the counter lt CounterID gt in ticks and saves it in variable referenced by lt TicksRef gt OSEKturbo OS MPC5xx TR 213 For More Information www freescale com Freescale Semiconductor Inc System Services Counter Management Services Particularities The service call is allowed on task level ISR level and in ErrorHook PreTaskHook and PostTaskHook hook routines This service is not implemented if no counters are defined in the configuration file The GetCounter Value service is not defined in the OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS Status e Standard E_OK no error e Extended E_OS_ID the counter identifier is invalid Conformance BCC1 ECC1 GetCounterlnfo Op Syntax tatusType GetCounterlnfo CtrRefType lt CounterID gt CtrInfoRefType lt InfoRef gt Input lt CounterID gt a reference to the counter Output lt
145. d Alarm with ACT ON ESETEVENT defined 24 Initial an event defined Message with ACTION NONE defined 25 Initial an event defined Message with ACTION ACTIVATETASK defined 26 Initial an event defined pan with ACTION SETEVENT defined 27 Initial an event defined Resource for task defined 28 Changed ISR category 2 defined 29 Changed InterruptDispatcher OneLevel ECCI 105 92 T 1284 12 T 113 100 T 1800 12 T 113 100 T 1732 12 T 113 100 T 1824 12 T 113 100 T 1996 12 T 114 100 T 2776 12 T 119 100 T 3244 12 T 113 100 T 8 C 2060 12 T 8 C 113 100 T 12 C 24 A 3160 12 T 8 C 12 A 113 100 T 16 M 2180 12 T 12 M 113 100 T 20 M 2384 12 T 16 M 113 100 T 24 M 2360 12 T 20 M 117 104 T 8 R 2140 12 T 1 R 118 104 T 8 R 2872 12 T 1 R 134 104 T 8 R 3196 12 T 1 R OSEKturbo OS MPC5xx For More Information www freescale com TR 285 Freescale Semiconductor Inc Memory Requirements Data Sheet for CodeWarrior Table C 2 Operating System Memory Requirements CodeWarrior Confor Num System Properties mance ber configuration Class RAM ROM 30 Changed ECC1 122 104 T 12 R 3068 12 T 1 R Resource referenced by ISR TR 286 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc D
146. d as a pointer to the message body 1 this attribute is OSEKturbo extension of the OSEK OS OSEKturbo OS MPC5xx TR 87 For More Information www freescale com Communication Queued Messages Freescale Semiconductor Inc 1 N communication for Unqueued Messages does not have any difference from 1 1 communication since any task can read the Unqueued Messages if its identifier is known Queued Messages TR 88 Queued Messages are stored in a FIFO buffer and they are read by the application in the order they arrived Only tasks not ISRs have personal accessors to read or to write message Accessor type is defined by SENT and RECEIVED values of ACCESSOR attribute respectively The first message in the queue can be accessed through the message copy ACCESSOR for an queued message cannot be defined with WITHOUTCOPY attribute equal to TRUE The send operation adds value of a message to the end of the message queue The receive operation reads the first value of a Queued Message in the queue and then removes it from the queue Allocation of memory for message copies depends on the MessageCopy Allocation attribute It specifies whether SysGen will generate copies of messages in the global memory or message copies are allocated in the application by the user This is defined by OS and USER values respectively The user can place copies of messages into the global or into the local memory of the functions The SendMessage and ReceiveMessa
147. d automatically on the basis of information about priorities of tasks using the resource If RESOURCE object is defines but not used calculation of resource Ceiling priority is incorrect RESOURCE with property INTERNAL can not be linked Error This message is generated if a RESOURCE object with RESOURCEPROPERTY LINKED refers through the LINKEDRESOURCE subattribute to a RESOURCE object with RESOURCEPROPERTY INTERNAL lt value gt must be defined as SysTimer Error The SecondTimer attribute can be SWCOUNTER if the SysTimer is equal to SWCOUNTER or HWCOUNTER The SecondTimer can be HWCOUNTER if the SysTimer attribute is HWCOUNTER SecondTimer hardware cannot be the same as SysTimer Error The TimerHardware attributes inside SysTimer and SecondTimer attributes cannot have the same value Prescaler attributes shall be both USER or OS Error The Prescaler attribute in the SysTimer attribute scope and the Prescaler attribute inside the SecondTimer attribute shall have the same value Period shall be defined because of Prescaler Value is AUTO Error The Period attribute shall be defined if the Value or and TimerModuloValue attributes inside SysTimer attribute is AUTO OSEKturbo OS MPC5xx For More Information www freescale com TD0518 TD0519 TD0520 TD0521 TD0522 TD0523 TD0524 Freescale Semiconductor Inc System Generation Error Messages List of Messages Period shall be defined because
148. d file for SysGen command No ATSHAMBS line parameters Defines lt name gt as the output header file name Input OIL file name with h h lt name gt f extension i lt path gt Defines lt path gt as the path for include files No CPU Defines lt CPU gt as the name of CPU for which output First CPU in the file Ns 3 files are generated Defines lt name gt as the OS property file name osprop h in the source OIL p lt name gt PARRI file directory O lt version gt Specifies ORTI version 2 1 Defines lt name gt as the ORTI information file name Input OIL file name with ort 221095 extension Only verification for OIL input file No output files shall No t be generated When this option is defined SysGen shall output No V versions of all its components W Suppresses all warning messages No w lt message Suppresses warning message defined by lt message ve identifier identifier gt A Forces to generate absolute paths in include directives No of configuration files instead of relative one In addition to command line option the OSB_INCLUDE_DIR environment variable can be used to specify the set of directories to search for include files TR 146 OSEKturbo OS MPC5xx For More Information www freescale com NOTE Freescale Semiconductor Inc Building of Application Action Sequence to Build an Application The SG utility produces three types of standard C language files which are to be compiled and linked together
149. d the attribute has to contain subattributes definition OSEKturbo OS MPC5xx For More Information www freescale com OR0034 OR0035 OR0036 OR0037 OR0038 OR0039 OR0040 OR0041 OR0042 Freescale Semiconductor Inc System Generation Error Messages List of Messages Standard attribute ENUM value list cannot be expanded Error This attribute definition does not correspond to OIL standard The value range of standard attributes may be restricted but not expanded Standard reference type mismatch Error The type of standard reference does not correspond to OIL standard Standard attribute type mismatch Error The type of standard attribute does not correspond to OIL standard Duplicated object Error The object has been already defined in the implementation definition CFG lt name gt is not defined Error CFG statements are not supported by OIL standard No implementation is found Error No implementation definition was found in the input file Container type does not match implementation Error The OIL file contains a container type that is not defined by implementation Section name does not match implementation Error The OIL file contains a section type that is not defined by implementation Type of object is not defined in the implementation Error Only standard objects defined by OIL specification shall be used in application definition New object types are not al
150. directories have to be provided by the user The OS source code is compiled and linked together with other application s files The header file osprop h describing system properties defines which functionality will have the OS kernel in run time Generally changes in OIL file result in osprop h modification and require recompilation of OS files However some of object attributes do not affect osprop h contents see OS Object Files Dependency for details OSEKturbo OS MPC5xx TR 147 For More Information www freescale com Freescale Semiconductor Inc Building of Application Action Sequence to Build an Application TR 148 This file must be included in all user s and OS source files Since the user can specify another name for this file the special macro OSPROPH is designed to substitute the name After OS property file the file osapi h shall be included to make OS services visible to the user application Then OS configuration file cfg h which contains declarations of all OS objects shall be included Macro OSCFGH may be used to substitute a name of configuration header file The following code could be used in all user s files if defined OSPROPH include osprop h felse defined OSPROPH include OSPROPH endif defined OSPROPH finclude osapi h if defined OSCFGH finclude cfg h else defined O0SCFGH include OSCFGH fendif defined O0SC
151. dule system service This leads to task rescheduling if there is a ready task of higher priority The scheduler can be used by the programmer as a resource To provide this possibility the services GetResource and ReleaseResource with the constant RES_SCHEDULER as a parameter can be called by a task It means that the task cannot be preempted by any other task after the scheduler occupation before the corresponding call ReleaseResource is performed While the task occupies the scheduler it has the highest priority and therefore cannot be preempted by other tasks only ISRs can get the CPU control during this period Such programming practice can be used for important critical sections of code See the example GetResource RES SCHEDULER Critical section this code cannot be interrupted by any other task ReleaseResource RES SCHEDULER TR 46 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 5 Interrupt Processing General This chapter highlights the OSEK approach to interrupt handling This chapter consists of the following sections General e ISR Categories e Interrupt Level Manipulation e ISR Stack e Interrupt Dispatcher Interrupt processing is an important part of any real time operating system An Interrupt Service Routine ISR is a routine which is invoked from an interrupt source such as a timer or an external hardware event IS
152. dule enables a processor assignment to other tasks with assigned priority not higher than the ceiling priority of the internal resource and higher than the assigned priority of the calling task When returning from Schedule the internal resource is taken again This service has no influence on tasks with no internal resource assigned preemptable tasks The service call is allowed on task level only e Standard E_OK no error e Extended E_OS_CALLEVEL a call at the interrupt level E_OS_RESOURCE calling task occupies resources BCC1 ECC1 GetTaskld StatusType GetTaskID TaskRefType lt TaskIDRef gt None lt TaskIDRef gt a pointer to the variable contained reference to the task which is currently running The service saves the task reference into the variable that is addressed by pointer lt TaskIDRef gt Reference to TaskType variable can be used instead of TaskRefType variable This service returns reference to the task which is currently running If no task currently running the service returns INVALID_TASK constant OSEKturbo OS MPC5xx TR 185 For More Information www freescale com Freescale Semiconductor Inc System Services Task Management Services Particularities The service call is allowed on task level ISR level and in ErrorHook PreTaskHook and PostTaskHook hook routines Status e Standard E OK no error e Extended None Conformance BCC
153. e Resource Declaration The declaration statement DeclareResource may be used for compatibility with previous OSEK versions It may be omitted in application code OSEKturbo OS MPC5xx TR 197 For More Information www freescale com Freescale Semiconductor Inc System Services Resource Management Services Syntax DeclareResource lt name of resource gt Input lt name of resource gt a reference to the resource Description This is a dummy declaration Particularities There are no need for this declaration because all system objects are defined at system generation phase Conformance BCC1 ECC1 GetResource Syntax StatusType GetResource ResourceType lt ResID gt Input lt ResID gt a reference to the resource Output None Description This service changes current priority of the calling task or ISR according to ceiling priority protocol for resource management GetResource serves to enter critical section in the code and blocks execution of any task or ISR which can get the resource lt ResID gt A critical section must always be left using ReleaseResource within the same task or ISR Particularities This function is fully supported in all Conformance Classes It is OSEKturbo extension of OSEK OS because OSEK VDX specifies full support only beginning from BCC2 Nested resource occupation is only allowed if the inner critical sections are completely executed within the surrounding cr
154. e OSEK Operating System the data types defined by the system must be used The data types are described at the end of previous sections and in System Services Compiling and Linking When all needed header and source files are created or produced by the System Generator an application can be compiled and linked for details see PowerPC Platform Specific Features Linking process is controlled by the typical linker directive file OS Object Files Dependency The OS object files are recompiled when content of the OS property file is changed The OS configuration depends on many parameters defined in OIL file but there exists a set of parameters which can be changed without necessity to recompile OS files or rebuild OS library Note that number of objects affects constants defined in OS OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Building of Application Action Sequence to Build an Application property file so adding or deleting an object will cause OS recompiling The configuration attributes which do not require recompiling of OS are listed below OS attributes e MessageCopyAllocation e TimeScale subattributes ScalePeriod TimeUnit Step subattributes StepNumber StepTime TASK TASK attributes e PRIORITY e AUTOSTART e RESOURCE e Number of ACCESSOR definition and all subattributes of ACCESSOR MESSAGE WITHOUTCOPY ACCESSNAME e STACKSIZE
155. e application software are typically caused by e Errors on handling the operating system i e incorrect configuration initialization dimensioning of the operating system or non observance of restrictions regarding the OS service e Error in software design i e unwise choice of task priorities generation of deadlocks unprotected critical sections incorrect dimensioning of time inefficient conceptual design of task organization etc TR 100 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Error Handling and Special Routines Start up Routine Start up Routine The special system routine StartOS is implemented in the OSEK Operating System to allocate and initialize all dynamic system and application resources in RAM This routine is called from the main function of the application with the application mode as parameter see Application Modes and pass the control to the scheduler to schedule the first task to be running User hook StartupHook is called after operating system startup and before the system and second timers initialization and running scheduler See Sample Application for details The figure below shows system startup Figure 10 1 System Startup in the OSEK OS Re Start hardware operation alisar specific callto system OS executes timers OS kernel a Ba a task is initialization StartOS linitialization StartupHook init
156. e de ISR Category 2 ius 4 o ehe a we Se we Interrupt Level Manipulation ISSSTE iaa ge I Side Ge Bla SPA A Interrupt Dispatcher aci pa is Dadi ga bibi Programming Issues A Se Lapo ele Configuration Options api dea AL Run time Services 2 a a a a eee Conventions ie 2 o ee a A OD IAE es A ISR Definition a dio Pe AO ae BAS te G a s Interrupt Vector Definition 2 2 a a 6 Resource Management Gentril aes a ae ay ui a as Bed amp Go Se Shae Se BS Access to Resources 2 2 o Restrictions when using resources LL Priority Ceiling Protocol Scheduler as a Resource 0 2 84 Internal resources Programming Issues 4 4 404 Oa eR ww Configuration Option ili a ek we DAI pesi le be Sas i Bae AAA AA Run time Services 2 2 1 ee ee a a Resource Definition LL 7 Counters and Alarms TR 4 Generals para Lu de dn ee las ee at ee Counters ds ed ee a a era de te ta Alarms er toe Boe elena SERS Alarm Callback lt lt ace do 4 ag ah A a ae wt ited A Timescale Le sea A en Pelee dhe tes eae alc fer Re Pala Programming Issues nos a pu a Ea OS aS we Configuration Options 44 0000 a de we OS a AA OSEKturbo OS MPC5xx For More Information www freescale com 47 47 48 48 49 50 50 51 52 52 52 53 54 55 57 57 58 59 59 61 61 62 62 63 63 63 Freescale Semiconductor Inc Wate Iypes a alli se ews a eA ae Meta Bed
157. e message buffer or message copy e FlagType The abstract data type for flag identification Message Definition Each message in an application is generated by means of using statements like the following MESSAGE MsgA TYPE UNQUEUED CDATATYPE long int ACTION SETEVENT TASK taskl EVENT eventC y In detail message configuration statements is described in Message Definition There are no constructional elements defined for messages Run time Services OSEKturbo OS grants a set of services for the user to manage messages Detailed descriptions of these services are provided in TR 90 OSEKturbo OS MPC5xx For More Information www freescale com Table 9 1 Freescale Semiconductor Inc Communication Programming Issues section Communication Management Services Here only a brief list is presented Communication Management Run time Services Service Name Description SendMessage Updates the message ReceiveMessage Gets the message GetMessageStatus Gets message status GetMessageResource Sets message status to BUSY ReleaseMessageResource Clears BUSY message status ReadFlag Returns the value of the specified notification flag ResetFlag Sets the specified notification flag to FALSE InitCOM Initializes COM hardware empty in OSEKturbo CloseCOM Resets COM hardware empty in OSEKturbo StartCOM Initializ
158. e network And OSEK OS communication services provide an interface for application tasks to exchange data Thus messages serve as interface for both internal and network communication Uniform services with identical interfaces are offered network transparency Unqueued Messages TR 86 Unqueued Messages represent the current value of a state variable Tasks and ISRs have personal accessors to read or to write message Accessor type is defined by SENT and RECEIVED values of ACCESSOR attribute respectively Also a message can be accessed directly through the message buffer or indirectly through the message copy Access through the message copy guarantees consistency of information in the message between adjacent operations of send receive This behavior is defined by WITHOUTCOPY attribute for each defined ACCESSOR The send operation overwrites the current value of a message The receive operation reads the current value of an Unqueued Message whereby the message data is not consumed Allocation of memory for message copies depends on the MessageCopyAllocation attribute OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Communication Unqueued Messages It specifies whether SysGen will generate copies of messages in global memory or message copies are allocated in the application by the user This is defined by OS and USER values respectively The user can place copies of messages into the gl
159. e utilization of the service Status List of possible return values if service returns status of StatusType type e Standard List of return values provided in the operating system s standard version Special case service does not return status e Extended List of additional return values in the operating system s extended version Conformance Specifies the Conformance Classes where the service is provided Task Management Services Data Types The OSEK OS establishes the following data types for the task management e TaskType the abstract data type for task identification TR 180 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Task Management Services TaskRefType the data type to refer variables of the TaskT ype data type Reference or pointer to TaskType variable can be used instead of TaskRefType variable TaskStateType the data type for variables to store the state of a task TaskStateRefType the data type to refer variables of the TaskStateType data type Reference or pointer to TaskStateType variable can be used instead of TaskStateRefType variable Constants The following constants are used within the OSEK Operating System to indicate task states RUNNING constant of data type TaskStateType for task state running WAITING constant of data type TaskStateType for task state waiting READY constant of data type T
160. ects are defined at system generation phase Conformance ECC1 SetEvent Syntax StatusType SetEvent TaskType lt TaskID gt EventMaskType lt Mask gt Input lt TaskID gt a reference to the task for which one or several events are to be set lt Mask gt an event mask to be set Output None Description This service is used to set one or several events of the desired task according to the event mask If the task was waiting for at least one of the specified events then it is transferred into the ready state The events not specified by the mask remain unchanged Only an extended task which is not suspended may be referenced to set an event Particularities It is possible to set events for the running task task caller The service call is allowed on task level and ISR level but not in hook routines This service is not implemented if no events are defined in the configuration file Status e Standard E OK no error e Extended E_OS_ID the task identifier is invalid E_OS_ACCESS the referenced task is not an Extended Task E_OS_STATE the referenced task is in the suspended state Conformance ECC1 OSEKturbo OS MPC5xx TR 203 For More Information www freescale com System Services Freescale Semiconductor Inc Event Management Services Syntax Input Output Description Particularities Status Conformance Syntax Input Output Description
161. ects stack overflow then the ErrorHook is called with appropriate error status code This mode is intended for debugging OSEKturbo OS MPC5xx TR 121 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OS Definition Task Related Attributes This group of attributes controls task features The attributes should be defined inside the scope of the OS object in accordance with the following syntax default attribute value are shown in bold type TimeScale lt TRUE FALSE gt ScalePeriod lt integer AUTO gt TimeUnit lt ticks ns us ms gt Step lt SET gt StepNumber lt integer gt StepTime lt integer gt TASK lt name of TASK gt y 5 e TimeScale BOOLEAN This OSEKturbo specific attribute specifies Time Scale mechanism e ScalePeriod UINT32 This OSEKturbo specific attribute specifies full period of time scale in chosen measurement units It is used during system generation time to check that ScalePeriod is equal to sum of StepTime attributes of all steps The attribute is ignored if it is AUTO e TimeUnit ENUM This OSEKturbo specific attribute specifies measurement units ticks means ticks of System Timer ns means nanoseconds us microseconds and ms milliseconds e Step ENUM This OSEKturbo specific attribute defines one of step elements in the Time Scale e StepNumber UINT32 This OSEKturbo specific attribute specifies the order of steps
162. ecution time of this service depends on the number of ready tasks of the priority higher than activated task The table below contains interrupt frame characteristics for OSEKturbo OS MPC5xx and Diab DCC and Metrowerks compilers Table B 2 Interrupt Frame Characteristics for ISR Category 2 DIAB DCC Metrowerks Configuration Conditions cycles Hs cycles Hs From interrupt until first ISR command Initial 76 1 9 72 1 8 TR 276 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Service Timing Data Sheet Table B 2 Interrupt Frame Characteristics for ISR Category 2 DIAB DCC Metrowerks Configuration Conditions cycles Hs cycles Hs From last ISR command until task idle loop Initial Return to interrupted task 60 1 5 60 15 Task rescheuling occurs 64 1 6 60 15 Return to Idle Loop 60 1 5 56 1 4 Interrupt frame characteristics are the data about delay from interrupt until start of first from end of last ISR command to first instruction of task idl loop for ISR category 2 OSEKturbo OS MPC5xx For More Information www freescale com R command and TR 277 Freescale Semiconductor Inc System Service Timing Data Sheet TR 278 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc C Memory Requirements Memory fo This appendix provides information about the amount of ROM
163. ed file path Fatal Error The incorrect syntax of an include directive lt file path gt or file path expected Fatal Error The incorrect syntax of an include directive Wrong include directive format Fatal Error The incorrect syntax of an include directive OSEKturbo OS MPC5xx For More Information www freescale com OR0053 OR0005 OR0006 OR0007 OR0008 OR0009 OR0010 Freescale Semiconductor Inc System Generation Error Messages List of Messages OIL version expected Fatal Error OIL version should be defined as value for the OIL_ VERSION attribute at the beginning of OIL file Unclosed comment Error The OIL file may contain C style comments and If the comment is started be then the end of the comment is defined by Unknown directive Error Unknown preprocessing directive was detected Unterminated string Error The attribute s value of STRING type should be completed by double quote Wrong number format Error The number format on any unsigned integer number possibly restricted to a range of numbers Floating point is not supported Error Floating point is not supported by the 2 0 and 2 0e OIL versions The message is generated if an OIL file of 2 0 or 2 0e format contains an attribute of FLOAT type Syntax error Error A syntax error was found in the input stream Problems of this type can sometimes be attributed to a syntactical or clerical
164. ediately notified tas becomes running SetAbsAlarm an alarm Alarm set 104 2 6 68 1 7 96 2 4 56 1 4 defined Alarm expires 204 5 1 168 4 2 172 4 3 128 3 2 immediately notified tas becomes ready Alarm expires 228 5 7 180 4 5 192 4 8 148 3 7 immediately notified tas becomes running 10 alarm are Alarm set 104 2 6 68 1 7 96 2 4 52 1 3 cine alarms are Alarm expires set ona ORO 372 9 3 340 8 5 276 6 9 240 6 counter notified tas becomes ready Alarm expires 396 9 9 360 9 300 7 5 264 6 6 immediately notified tas becomes running CancelAlarm 1 alarm is set 40 1 20 0 5 52 1 3 20 0 5 on a counter 10 tasks 10 36 0 9 24 0 6 52 1 3 24 0 6 alarms are set on a counter OSEKturbo OS MPC5xx TR 275 For More Information www freescale com System Service Timing Freescale Semiconductor Inc Data Sheet Table B 1 Run time Services Timing Characteristics CodeWarrior Diab CC Configuration Conditions Timing Latency Timing Latency cycles Hs cycles Hs cycles Hs cycles Hs GetAlarm 1 alarm is set 52 1 3 20 0 5 60 1 5 20 0 5 on a counter 10 tasks 10 44 1 1 20 0 5 56 1 4 20 0 5 alarms are set on a counter StartTimeScale TimeScale Task 144 3 6 120 3 132 3 3 100 22 defined activated no rescheduling Task 172 4 3 144 3 6 164 4 1 128 3 2 activated an rescheduled StopTimeScale TimeScale 40 1 0 0 44 1 1 0 0 defined The ex
165. eduling by defining groups of tasks For tasks which have the same or lower priority as the highest priority within a group the tasks within the group behave like non preemptable tasks rescheduling will only take place at the points of rescheduling described in Non preemptive Scheduling For tasks with a higher priority than the highest priority within the group tasks within the group behave like preemptable tasks see Full preemptive Scheduling Chapter Internal resources describes the mechanism of defining groups by the instrumentality of internal resources Programming Issues Configuration Options The following system configuration options are intended to define scheduler properties e CC Specifies conformance class If AUTO conformance class is defined according to tasks definitions IdleLoopHook If this option is turned on then user supplied hook will be called from the scheduler idle loop HCLowPower If this option is turned on an instruction that puts the CPU in low power mode is used instead of the scheduler s idle loop ResourceScheduler If this option is set to FALSE then RES_SCHEDULER is not supported by OS OSEKturbo OS MPC5xx TR 45 For More Information www freescale com Freescale Semiconductor Inc Scheduler Programming Issues Run time Services The scheduler is not accessed by the user directly The user can only pass the CPU control to the scheduler by means of the Sche
166. eescale Semiconductor Inc System Objects Definition OS Definition It is not recommended to use this hook in normal working applications because it adds significant timing overhead If the attribute is defined this hook is called for each task i e it is not allowed to use this hook for particular task s only POSTTASKHOOK BOOLEAN The attribute defines whether the user s provided hook is called from the scheduler code after the operating system leaves context of the task or not the PostTaskHook hook routine In general this hook is designed for debugging applications by means of tracing current task It is not recommended to use this hook in normal working applications because it adds significant timing overhead If the attribute is defined this hook is called for each task i e it is not allowed to use this hook for particular task s only e ERRORHOOK BOOLEAN The attribute defines whether the user s provided hook is called by the system at the end of each system service which returns status not equal to E_OK or not the ErrorHook hook routine This hook is designed for debugging applications by means of tracing error code returned by the system service instead of checking error code after each call of system service This hook increases the OS code with extended error status by approximately 10 for STANDARD status configuration and increase the timing in case of error during the service call There is no need
167. eet Table B 1 Run time Services Timing Characteristics CodeWarrior Diab CC Configuration Conditions Timing Latency Timing Latency cycles Hs cycles Hs cycles Hs cycles Hs 10 tasks 10 Alarm is not 292 7 3 268 6 7 204 5 1 184 4 6 alarms are set expired to a counter Notified tasks 632 15 8 596 14 9 568 14 2 544 13 6 become ready High priorit 664 16 6 624 15 6 596 14 9 572 14 3 notified tas becomes running GetCounterValue a counter 16 0 4 0 0 12 0 3 0 0 defined GetCounterlnfo a counter 24 0 6 0 0 24 0 6 8 0 2 defined GetAlarmBase an alarm 40 1 0 0 24 0 6 4 0 1 defined SetRelAlarm an alarm Alarm set 136 3 4 96 2 4 124 3 1 80 2 defined Alarm expires 236 5 9 196 4 9 200 5 152 3 8 immediately notified tas becomes ready Alarm expires 260 6 5 208 5 2 216 5 4 172 4 3 immediately notified tas becomes running TR 274 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Service Timing Data Sheet Table B 1 Run time Services Timing Characteristics CodeWarrior Diab CC Configuration Conditions Timing Latency Timing Latency cycles Hs cycles Hs cycles Hs cycles Hs 10 alarm are Alarm set 132 3 3 100 25 128 3 2 76 1 9 e alarms are Alarm expires set on a pa 404 10 1 372 9 3 308 7 7 264 6 6 counter notified tas becomes ready Alarm expires 428 10 7 388 9 7 328 8 2 288 72 imm
168. enabling all interrupts e Services for disabling enabling interrupts of category 2 Resource Management e Control of mutually exclusive access to jointly used resources or devices or for control of a program flow Communication e Data exchange between tasks and or ISRs Counter and Alarm Management e The counter management provides services for execution of recurring events e The alarm management is based on the counter management The alarm management allows the user to perform link task activation or event setting to a certain counter value These alarms can be defined as either single one shoot or cyclic alarms Expiration of a preset relative counter value or the fact that a preset absolute counter value is reached results in activation of a task or setting a task event e TimeScale enables periodic activations of tasks in accordance with a static defined schedule Error Treatment e Mechanisms supporting the user in case of various errors ORTI Subsystem e The ORTI provides an interface to Operating System run time data for OSEK aware debuggers The Communication part of the OSEK Operating System conforms to the OSEK VDX Communication v 2 2 2 18 December 2000 specification 2 The Counter Management part of the OSEK Operating System conforms to the OSEK Operating System Application Program Interface v 1 00 11 September 1995 specification 3 TimeScale is an OSEKturbo extension of OSEK OS OSEK
169. ename gt lt filename gt is the name of the file with user defined structures and data declarations In the example below one data type and variable are defined by the user which are referenced in files generated by SG Variable are defined in the user s file user c and referenced in the produced file cfg c The data type is defined in the user s file user h and referenced in the produced file cfg c The user s code can be the following USER H file typedef struct tagMSG MSGTYPE struct tagMSG TickType timeStamp int x extern MSGTYPE MsgA USER C file include user h include user defined data type MSGTYPE MsgA user defined variables OSEKturbo OS MPC5xx TR 149 For More Information www freescale com Freescale Semiconductor Inc Building of Application Action Sequence to Build an Application CFG C file generated by SG if defined APPTYPESH include APPTYPESH user s header file tendif defined APPTYPESH SG generated code referring to user s type and data TR 150 The compiler command line has the following option dAPPTYPESH USER H Other variants are also possible The code of user s tasks and functions should be developed according to common rules of the C language But some exceptions exist e The keyword TASK and ISR should be used to define a task and ISR correspondingly e For objects controlled by th
170. endOSinterrupts Initial 20 0 5 28 0 7 GetResource OS TasiCoccuplos 56 1 4 20 0 5 56 1 4 24 0 6 ae eee e i le i ReleaseResource Jesolo a 76 1 9 40 1 T2 1 8 36 0 9 rescheduling Task releases 112 2 8 12 1 8 100 2 9 68 1 7 ei er ieee pe ee oe oe OSEKturbo OS MPC5xx TR 271 For More Information www freescale com System Service Timing Freescale Semiconductor Inc Data Sheet Table B 1 Run time Services Timing Characteristics CodeWarrior Diab CC Configuration Conditions Timing Latency Timing Latency cycles Hs cycles Hs cycles Hs cycles Hs SetEvent CC ECC1 Event set but 60 1 5 24 0 6 64 1 6 24 0 6 SCHEDULE task was not NON waiting it for all tasks an event Event set task 72 1 8 32 0 8 76 1 9 32 0 8 defined becomes ready CC ECC1 Event set but 64 1 6 24 0 6 84 2 1 40 1 an event task was not defined waiting it Event set task 84 2 1 40 1 100 2 5 52 1 3 becomes ready Event set task 212 5 3 180 4 5 228 5 7 184 4 6 becomes running ClearEvent CC ECCI 20 0 5 8 0 2 36 0 9 4 0 1 SCHEDULE NON for all tasks an event defined CC ECC1 24 0 6 4 0 1 36 0 9 4 0 1 an event defined GetEvent CC ECC1 12 0 3 0 0 12 0 3 0 0 SCHEDULE NON for all tasks an event defined CC ECC1 12 0 3 0 0 8 0 2 0 0 an event defined TR 272 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor In
171. eneration Error Messages List of Messages TR 316 TD0761 TD0762 TD0763 TD0765 lt filename gt shall be used for OSEK OS header configuration file name Information If the name of header file is not defined explicitly then by default this file has the same name as the source OIL file h extension and located in the same directory The h option is used to define the name of OS header file lt filename gt shall be used for OSEK OS source configuration file name Information If the name of source file is not defined explicitly then by default this file has the same name as the source OIL file c extension and located in the same directory The c option is used to define the name of OS source file lt filename gt shall be used for OSEK ORTI file name Information If the name of ORTI file is not defined explicitly then by default this file has the same name as the source OIL file ort extension and located in the same directory The o option is used to define the name of ORTI file EVENT is treated as it is used by all the TASKs Information The EVENT object is defined in OIL file but task objects have no references to this event This leads for allocation of the bit in event mask which cannot be used by other event masks TD0766 EVENT is declared but never used and there are no Extended TASKs TD0767 Error The EVENT object is defined in OIL file but task have no references to this event T
172. ents were performed on ETAS EVB555 board The numbers in the tables are the number of CPU system cycles counted by reading the free running time base counter in the columns titled cycles and in microseconds for 40MHzCPU The Latency column presents the time for which the interrupts are disabled in the service OSEKturbo OS MPC5xx application was compiled with compiler optimizations turned on and downloaded into onchip Flash memory internal RAM was used for data and stack Measurements were done with the following conditions e Oscillator clock frequency 4MHz e TB tick duration 1 Us bit SCCR TBS 0 e MCU frequency 4 MHz bits PLPRCR MF 0x003 and SCCR DFNH 2 to ensure 1us TB tick duration e RCPU is not serialized normal mode and no show cycles will be performed for fetched instructions bits ICTRL ISCT_SER 7 It is possible that some real numbers can slightly differ from the presented values due to some last changes in OSEK OS Data Sheet Table B 1 Run time Services Timing Characteristics CodeWarrior Diab CC Configuration Conditions Timing Latency Timing Latency cycles Hs cycles Hs cycles Hs cycles Hs StartOS Initial 216 5 4 188 4 7 168 4 2 140 3 5 TR 268 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Service Timing
173. eption shall not be assigned to ISRs of category 2 If OS could not disable ISR category 2 then OS will not be able to protect it s critical code sections and will crash Interrupt Level Manipulation ISR Stack TR 50 Direct manipulation with CPU interrupt flags or levels is strictly forbidden The user can not define values of the interrupt masks directly Interrupts are enabled during task execution Interrupts can be disabled via disable enable interrupt API functions or by using resource mechanism DisableAllInterrupts service can be used to temporary disable all interrupts To return to previous interrupt status EnableAllInterrupts service must be called after it in frame of task or ISR where DisableAllInterrupts is called SuspendAllInterrupts and ResumeAllInterrupts pair has the same effect as DisableAllInterrupts EnableAllInterrupts pair but allows nesting of pairs SuspendOSInterrupts service can be used to temporary disable all interrupts of category 2 To return to previous interrupt status ResumeOSInterrupts service must be called after it in frame of task or ISR where SuspendOSInterrupts is called Resources can be used to temporary disabling interrupts If task or ISR occupies resource which is referenced by ISR of priority P then all ISRs with priority equal or lower than P are disabled and task rescheduling is disabled Interrupts are reenabled and task rescheduling is reenabled after releasing the re
174. error For example TASK taskA PRIORITY 5 No closing semicolon SCHEDULE FULL OSEKturbo OS MPC5xx TR 293 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 294 OROO11 OR0012 OR0013 OR0014 OR0015 OR0016 In the preceding example the error message will be generated for the line which contains the definition of SCHEDULE attribute although the true source of the error appears on the line just above As a general rule make sure to also examine the lines above the line listed in the error message when trying to determine the cause Attribute value does not match type Error The value does not correspond to attribute type Attribute value is out of range Error The attribute value is greater or less than range defined Attribute range does not match type Error The value range does not correspond to attribute type Range bounds are wrong Error The first bound of the value range defines the minimal value of the attribute and the second bound specifies the maximal value i e the first bound has to be less than second one For example 1 256 Range is not allowed Error Object attributes of some types ENUM BOOLEAN STRING and object references have not to be defined with value range in the implementation definition part ENUM attribute requires value list Error The attribut
175. ervice returns the alarm base characteristics into the structure pointed by lt InfoRef gt The return value is a structure in which the information of data type AlarmBaseType is stored OSEKturbo OS MPC5xx TR 217 For More Information www freescale com Freescale Semiconductor Inc System Services Alarm Management Services Particularities The structure consists of two elements in case of the Standard Status and of three elements in case of the Extended Status The service call is allowed on task level ISR level and in ErrorHook PreTaskHook and PostTaskHook hook routines This service is not implemented if no alarms are defined in the configuration file Status e Standard E_OK no error e Extended E_OS_ID the alarm identifier is invalid Conformance BCC1 ECC1 GetAlarm Syntax StatusType GetAlarm AlarmType lt AlarmID gt TickRefType lt TicksRef gt Input lt AlarmID gt a reference to the alarm Output lt TicksRef gt a pointer to a variable which gets a relative value in ticks before the alarm expires Reference to TickType variable can be used instead of TickRefType variable Description This service calculates the time in ticks before the alarm expires If the alarm is not in use then returned value is not defined Particularities It is up to the application to decide whether for example an alarm may still be useful or not The service call is allowed on
176. es COM internal data StopCOM Stops communications Examples of the run time services usage are provided in System Services Callback Function The user can define callback function for each message The function is placed in user application and its name added to MESSAGE object definition as value of CALLBACKNAME attribute in this case ACTION shall be defined as CALLBACK The function is called when message arrives The callback function is usual user s function It is executed on OS or ISR level and only SendMessage and ReceiveMessage services are allowed in it The callback function shall have next definition void lt CallBackName gt void user code OSEKturbo OS MPC5xx TR 91 For More Information www freescale com Freescale Semiconductor Inc Communication Programming Issues Usage of Messages Messages are identified via a symbolic name This identifier is used for references to the message when the system service is used If the message is used in the WITHCOPY configuration and the value of MessageCopyAllocation attribute is USER then the variables to hold message s copies must be defined within the user s code by means of using the regular C language definitions If MessageCopyAllocation attribute is set to OS then the variables to hold message s copies are defined by SysGen and the user shall not define this variables in code For example if the user defines the message Ms
177. es of ENUM type have to be defined with one or more values allowed for the attribute OSEKturbo OS MPC5xx For More Information www freescale com OR0017 OR0018 OR0019 OR0020 OR0021 OR0022 OR0023 OR0024 Freescale Semiconductor Inc System Generation Error Messages List of Messages AUTO is not allowed Error If the implementation definition part has an attribute with the WITH_AUTO specifier then the AUTO value can be set for the attribute Duplicated values in ENUM attribute Error Values listed for an attribute of ENUM type have to differ each other Range of BOOLEAN attribute must be TRUE FALSE Error The attribute of BOOLEAN type can have either TRUE or FALSE value Reference type must be appended with _ TYPE Error The reference type is taken from the referenced object and _TYPE particle e g a reference to a task shall use the TASK_TYPE keyword as reference type Attribute type doesn t match the type of one previously defined Error The same subattributes cannot be defined with different types Duplicated attribute definition Error The implementation part of OIL file contains two definition of the same attribute Wrong reference type Error According to OIL standard the reference type is taken from the referenced object and _TYPE particle e g a reference to a task shall use the TASK_TYPE keyword as reference type Duplicated predefined attribute Error
178. esource management is affected resources state manipulations in code added If this attribute is greater than 1 additional code to support tracing is added into all OS services InterruptDispatcher if this is not set to None then additional code is executed before entering any ISR The user should set InterruptDispatcher to OneLevel MultiLevel or Enhanced for MPC565 563 561 only when it is necessary TR 140 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OSEKturbo Performance Dependency UnorderedExceptions if this is not set to TRUE then additional code is executed before entering any ISR The user should set UnorderedExceptions to TRUE only when it is necessary for debugging FloatingPoint if this attribute is set to TRUE then OS performance is decreased because all Floating Point FP registers are saved restored at task switch e FastTerminate if this attribute is FALSE then the OS has to save the state at the starting point of each Task and restore it in TerminateTask or ChainTask If FastTerminate is set to TRUE then the OS performance is increased but all calls to TerminateTask or ChainTask services must be done from Task body function level This attribute is applicable only for BCC1 e FastScheduler if this attribute is set to TRUE then the OS performance is increased because OS places some of it s variables into the CP
179. eyword ALARM is used for this object type See section Alarms for information about alarms The syntax of an alarm object is as follows ALARM lt name of ALARM gt COUNTER lt name of COUNTER gt ACTION lt SETEVENT ACTIVATETASK ALARMCALLBACK gt TASK lt name of TASK gt EVENT lt name of EVENT gt ALARMCALLBACKNAME lt string gt y AUTOSTART lt TRUE FALSE gt ALARMTIME lt integer gt CYCLETIME lt integer gt OSEKturbo OS MPC5xx TR 135 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition Alarm Definition APPMODE lt name of APPMODE gt y3 y Attributes The object has the following attributes e COUNTER reference The reference specifies the assigned counter An alarm shall be assigned to a particular counter to have an ability to operate Only one counter has to be assigned to the alarm e ACTION ENUM The attribute defines which type of task notification is used when the alarm expires For one alarm only one action is allowed If the ACTION attribute is defined as ACTIVATETASK the TASK reference defines the task to be activated when the alarm expires If the ACTION attribute is defined as SETEVENT then the TASK references defines the task to be activated and EVENT references defines the event to be set when the alarm expires If the ACTION attribute is defined as ALARMCALLBACK then the ALARM
180. ferences ACCESSOR SENT RECEIVED Defines the type of usage of the message MESSAGE name of MESSAGE species the message to be sent or received by the as WITHOUTCOPY TRUE FALSE poe whether a local copy of the message is used or no ACCESSNAME string Defines the reference which can be used by the application to access the message data OSEKturbo Specific Attribute STACKSIZE integer Defines the size of the task stack in bytes only for the Extended Tasks The application definition file contains one such statement per task The task generation statement is described in detail in System Objects Definition The constructional statement DeclareTask may be used for compatibility with the previous OSEK versions It may be omitted in the application code DeclareTask is as follows DeclareTask lt TaskName gt Run time Services The OSEK OS provides a set of services for the user to manage tasks A detailed description of these services is provided in System Services Below is only a brief list of them Table 3 4 Task Management Run time Services Service Name Description Activate Task Activates the task i e moves it from suspended to ready state Terminate Task Terminates the running task i e moves it from ready to suspended state OSEKturbo OS MPC5xx TR 37 For More Information www freescale com Task Management Programming Issues Freescale Semiconductor Inc
181. ferences data corresponding to the data type CtrInfoType Reference to CtrInfoType variable can be used instead of CtrInfoRefType variable TR 72 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Counters and Alarms Programming Issues NOTE CtrRefType CtrinfoType and CtrinfoRefType data types are not defined in OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS The following data type is established by OSEK OS to work with alarms e AlarmBaseType This data type represents a structure for storage of alarm characteristics It is the same as CtrInfoType e AlarmBaseRefType This data type references data corresponding to the data type AlarmBaseT ype e AlarmType The data type represents an alarm element Counters and Alarm Generation To generate a counter in an application the COUNTER definition is used it looks like the following COUNTER CounterName MINCYCLE 5 MAXALLOWEDVALUE 1000 TICKSPERBASE 10 y To define system or second timer hardware specific parameters the following properties should be defined in the OS definition statement OS lt name gt SysTimer HWCOUNTER COUNTER lt CounterName gt SRPRIORITY lt priority gt TimerHardware lt TypeOfTimer gt Prescaler OS Value lt PrescalerValue gt
182. for MPC5xx the possible values for HWCOUNTER are TBO TB1 for MPC5xx The TimerHardware attributes in SysTimer and SecondTimer blocks can not have the same value OSEKturbo OS MPC5xx TR 119 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OS Definition See PowerPC Platform Specific Features for details about possible meanings of these parameters e Prescaler ENUM This OSEKturbo specific attribute specifies whether prescaler value shall be initialized during OS startup or prescaler will be set by user application This attribute shall be defined if the SysTimer SecondTimer value is SWCOUNTER or HWCOUNTER only The Prescaler attribute in the SysTimer attribute scope and the Prescaler attribute inside the SecondTimer attribute shall have the same value e Value UINT32 or AUTO inside Prescaler attribute This OSEKturbo specific attribute specifies initial prescaler value for the selected system or second timer hardware The value of this attribute is fully hardware dependent For more details see PowerPC Platform Specific Features Note that the Prescaler Value attribute value is not equal to divide factor of timer hardware This attribute can be AUTO only if Prescaler value is OS In case of AUTO prescaler value is calculated during system generation This attribute shall be defined if Prescaler value is USER If the TimerModuloValue attribute is not AUTO the Va
183. formance This service is provided to ensure flag data consistency thus enabling portable access to the message notification flag e Standard and Extended E_OK the flag reset completed successfully BCC1 ECC1 Examples of Using Messages The examples below present the usage of system services for communication The following definitions can be made in the definition file OS osl MessageCopyAllocation USER TASK TASK_A SCHEDULE FULL AUTOSTART TRUE ACTIVATION 1 PRIORITY 2 STACKSIZE 256 EVENT MYEVENTMSGA ACCESSOR RECEIVED MESSAGE MsgA WITHOUTCOPY FALSE ACCESSNAME Msga y TASK TASK_B SCHEDULE FULL AUTOSTART FALSE ACTIVATION 1 PRIORITY 3 STACKSIZE 256 ACCESSOR RECEIVED MESSAGE MsgB WITHOUTCOPY FALSE ACCESSNAME MessageBuffer y TR 234 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Communication Management Services y TASK TASK_C SCHEDULE FULL AUTOSTART TRUE ACTIVATION 1 PRIORITY 1 STACKSIZE 256 ACCESSOR SENT MESSAGE MsgA WITHOUTCOPY TRUE ACCESSNAME msgAbuf ACCESSOR SENT MESSAGE MsgB WITHOUTCOPY FALSE ACCESSNAME msgB MESSAGE MsgA TYPE
184. formation in this document Motorola assumes no liability to any party for any loss or damage caused by errors or omissions or by statements of any kind in this document its updates supplements or special editions whether such errors are omissions or statements resulting from negligence accident or any other cause Motorola further assumes no liability arising out of the application or use of any product or system described herein nor any liability for incidental or consequential damages arising from the use of this document Motorola disclaims all warranties regarding the information contained herein whether expressed implied or statutory including implied warranties of merchantability or fitness for a particular purpose Trademarks OSEK VDX is a registered trademark of Siemens AG Diab D CC and SingleStep are trademarks of Wind River Systems Inc Metrowerks the Metrowerks logo and CodeWarrior are registered trademarks of Metrowerks Inc Microsoft MS DOS and Windows are trademarks of Microsoft For More Information www freescale com Freescale Semiconductor Inc Contents 1 Introduction 13 OBESOS Sr ahh e ie BRE es GOR i 15 Typographical Conventions a a a a ee ee ee 17 References aa a Le ra 17 Definitions Acronyms and Abbreviations 2 18 Technical Support Information 0 a a a 19 2 Operating System Architecture 21 Processing Levele x a ia a AA pr Gas a 21 Conformance Classes i dk aa A ANAC KC a
185. freescale com Freescale Semiconductor Inc Debugging Application Stack Debugging Support System checks task s and main stacks for overflow when tasks state is changed from RUNNING and before entering ISR of category 2 ISR stack or main stack in case of BCC1 is checked before leaving ISR of category 2 OSEKturbo OS MPC5xx TR 259 For More Information www freescale com Freescale Semiconductor Inc Debugging Application Stack Debugging Support TR 260 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc A Sample Application This appendix contains the text and listing of a sample customer application developed using OSEK OS This appendix consists of the following sections e Description e Source Files Description The Sample application delivered with the OSEK Operating System should help to learn how to use OSEK OS The Sample s source files are located in the SAMPLE directory it contains all files needed to create an executable file The Sample is not a real application and it does not perform any useful work But it has a certain algorithm so it is possible to track the execution It uses most of OSEK OS mechanisms and allows the user to have the first look inside the OSEK OS The Sample consists of six tasks It uses three counters HW and SW are on the System Timer and Second Timer and one user counter two alarms TimeScale two resources and two mes
186. g shall have the highest priority for platform 16 for MPC555 Stack Definition MPC r1 register stack pointer should always contain word aligned address therefore all task and ISR stack sizes in OSEK OS application should be word aligned should be multiple of 4 Recommendations on System Properties FloatingPoint Property It is recommended to turn OFF this property if the application does not use floating point arithmetic It reduces the needed amount of RAM and increases OS performance However if there are floating point operations in the application then FloatingPoint shall be set to TRUE OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features Timer Hardware The special OS attributes are introduced to define hardware interrupt source and desired parameters for counter considered to be System Second Timer Note that counter assigned to System Second Timer uses interrupts from corresponding timer channel At run time OSEKturbo OS enables CPU interrupts and timers interrupts corresponding to System and Second Timers User shall not directly manipulate with System Second timer hardware when OSEK is running However the timers hardware may be initialized prior to calling to StartOS in main function In this case the Prescaler attribute may be set to USER thus disabling timer prescaler reinitialization at OSEK startup If Prescaler i
187. gA having type int then user s code may access message using the following statements int _MsgA ReceiveMessage MsgA amp MsgA if _MsgA 2 _MsgA 1 SendMessage MsgA amp MsgA If the message is configured as WITHOUTCOPY property then the pointer to the message body should be defined within the user s code using regular C language statements Again because system generator creates typedef declaration for message item it is recommended to use this declaration for definition of pointer which is used to access message data For example if the user defines the WITHOUTCOPY message MsgB having the type int and ACCESSNAME MESSB then user s code may access message using the following statements ReceiveMessage MsgB amp MESSB if MESSB 2 MESSB 1 SendMessage MsgB amp MESSB TR 92 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 10 Error Handling and Special Routines General This chapter describes support provided to the user to debug an application and handle errors This chapter consists of the following sections General e Hook Routines e Error Handling e Start up Routine e Application Modes e System Shutdown e Programming Issues The OSEK Operating System provides the user with tools for error handling and simple debugging at run time These are special hook routines with names specified
188. ge Format Error Message Format The error message format depends on mode in which SysGen has been running By default an error message includes the file name the line number the error code and a short error description The error messages have one of the following formats in accordance with the severity level of message i lename gt i lename gt i lename gt i lename gt lt lt lt lt line_number gt line_number gt line_number gt line_number gt information lt prefix gt lt message gt warning lt prefix gt lt message gt error lt prefix gt lt message gt Fatal Error lt prefix gt lt message gt where lt filename gt file name lt line number gt line number lt prefix gt component specific prefix EEEF number of message lt message gt short description of the error The message format can be set to a tree like form if possible for example if an error is encountered while the project verifying by means b option The message includes the object type the object name the error code and a short error description In this case the error message has the following format CPU lt name gt lt OBJ CPU lt name gt lt OBJ CPU lt name gt lt OBJ CPU lt name gt lt OBJ JECT gt lt name gt lt attribute gt information lt prefix gt lt message gt TECT gt lt name gt lt attribute gt warning lt prefix gt lt message gt
189. ge are provided in section di Event Management Services OSEKturbo OS MPC5xx TR 83 For More Information www freescale com Freescale Semiconductor Inc Events Programming Issues TR 84 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 9 Communication This chapter describes message concept in OSEK and their usage This chapter consists of the following sections e Message Concept e Unqueued Messages e Queued Messages e Data Consistency e Programming Issues Message Concept In the OSEK Operating System communication between application tasks and or ISRs takes place via messages Communication concept and message management system services are based on the OSEK VDX Communication v 2 2 2 18 December 2000 specification OSEKturbo OS supports CCCB Communication Conformance Class B which includes support of internal Unqueued and Queued Messages An Unqueued Message represents the current value of a system variable e g engine temperature wheel speed etc Unqueued Messages are not buffered but overwritten with their actual values The receive operation reads the Unqueued Message value Thereby the message data is not consumed By contrast Queued Messages are stored in a FIFO buffer and they are read by the application in the order they arrived A particular Queued Message can therefore be read only once as the read operation removes it from the
190. ge services ensure that the consistent writing and reading of message data within the send and receive operation also in preemptive systems When a Queued Message is received the information from the first message in the message queue is copied to the message copy and further work with the message information is performed using this copy When a Queued Message is sent the information from the message copy is added to the end of the message queue The ACCESSNAME attribute defines the symbol that will be used in C code to access message data AccessNameRef of SendMessage ReceiveMessage services is a pointer to symbol specified in ACCESSNAME attribute For example type _accessor _accessor valuel 0 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Communication Data Consistency _accessor value2 20 SendMessage MsgA amp _accessor where type is the value of CDATATYPE attribute for MsgA message object in OIL file Then _accessor can be used as a pointer to the message body Data Consistency Data consistency means that the content of a given application message correlates unambiguously to the operations performed onto the message by the application This means that no unforeseen sequence of operations may alter the contents of the application message Thus data consistency means that it can be guaranteed that a task can complete the calculation with the same data set D
191. generated for the OS object in ORTI file to support trace interfaces the names of these attributes corresponds to ORTI specification supported The following trace interfaces are available to the user e running task This attribute specifies the name of the currently running task within the OS The value of this attribute presents a one byte memory block which contains either byte numeric identifier of a task which OSEKturbo OS MPC5xx TR 251 For More Information www freescale com Freescale Semiconductor Inc Debugging Application ORTI Features is currently in the running state or the special byte value in case of none tasks are in the running state The certain values of task identifiers are statically determined and enumerated in the type field of running task attribute of an OS object as well as the special value NO_TASK representing none of tasks running The value of the running task attribute is updated each time CPU switches to another task or to the code corresponding to none of task running e running ISR This attribute specifies the identifier of currently executed ISR of category 2 It occupies a one byte memory block There are the following special values of the attribute NO_ISR OS works on task or dispatcher level ISR_LEVEL OS works on ISR level but nested interrupt was finished SYSTEM_TIMER System Timer ISR was activated SECOND_TIMER Second Timer ISR was activated NOTE lfthere are
192. he same counter cannot be attached to both system and second timers Extended TASK is not supported in lt class gt class Error The OS conformance class is defined as one of the BCC classes but extended task is defined in the application via EVENT object ISR category 1 cannot have RESOURCE reference Error The RESOURCE reference cannot be defined for ISR object if its CATEGORY attribute is 1 ISR category 1 cannot use MESSAGE ACCESSOR attribute shall be undefined Error The message is generated if the CATEGORY attribute of ISR object is set to land ACCESSOR attribute is defined ISR cannot have reference to INTERNAL RESOURCE Error The message is generated if the RESOURCE attribute of the ISR object refers to the RESOURCE object with the RESOURCEPROPERTY attribute with INTERNAL value OSEKturbo OS MPC5xx For More Information www freescale com TD0059 TD0060 TD0065 TD0066 TD0070 TD0071 TD0072 TD0073 Freescale Semiconductor Inc System Generation Error Messages List of Messages ISR cannot send receive QUEUED MESSAGE Error The MESSAGE reference of the ISR object cannot refer to the MESSAGE object with the QUEUED value of the TYPE attribute Accessor for QUEUED MESSAGE must be with copy only Error If the MESSAGE reference of the TASK object refers to the MESSAGE object with the QUEUED value of the TYPE attribute then the WITHOUTCOPY attribute of the TASK object cannot be TRUE
193. he task It is called from the scheduler when it switches from the current task to another It may be used by the application to trace the sequences and timing of tasks execution StartupHook This hook is called after the operating system startup and internal structures initialization and before initializing System Timer and running scheduler It may be used by the application to perform initialization actions and task activation ShutdownHook This hook is called when the service ShutdownOS has been called It is called before the Operating System shuts down itself IdleLoopHook This hook is called from scheduler idle loop see General It is not possible to call any OSEK OS directives from this hook Hardware dependent code may be placed here If the user uses IdleLoopHook to enter one of lower power modes it is recommended to set HCLowPower to FALSE Time stamps can be integrated individually into the application software with the help of hook routines PreTaskHook and PostTaskHook The user can optionally use the hook routines or establish a watchdog task that takes one shot displays of the operating system status OSEKturbo OS MPC5xx TR 95 For More Information www freescale com Freescale Semiconductor Inc Error Handling and Special Routines Hook Routines Not all OS services may be called by the hook routines please refer
194. he task is considered as extended if any event is referenced The version of ORTI specification is not defined explicitly version 2 1 will be used Warning If the version of ORTI file format is not defined explicitly then by default this file will be generated in format corresponding to version 2 1 OSEKturbo OS MPC5xx For More Information www freescale com TD0768 TD0775 TD0800 TD0801 TD0802 TD0803 TD0804 Freescale Semiconductor Inc System Generation Error Messages List of Messages The O option is used to define the version of ORTI file format O option requires either 2 0 or 2 1 version of ORTI specification as a parameter Error The current OSEKturbo version supports ORTI specification version 2 0 and 2 1 Specified Period cannot be represented in hardware Period lt period value gt is calculated Warning If the Period specified by user cannot be represented precisely in hardware Target DLL calculates closest period to it Number of priorities exceeds lt number gt Error For OS MPC number of priorities is limited by 64 Number of RESOURCES exceeds lt number gt Error Number of RESOURCE objects defined in system is restricted by 254 including RES_SCHEDULER Number of ALARMS exceeds 254 Error Number of ALARM objects defined in system is restricted by 254 Number of MESSAGES exceeds 254 Error Number of MESSAGE objects defined in system is restricted by 254
195. hich might be occupied by that task during its execution have been released The OSEK operating system ensures that an ISR is enabled if all the resources which might be occupied by that ISR during its execution have been released Consequently no situation occurs in which a task or an ISR tries to access an occupied resource A special mechanism is used by the OSEK Operating System to provide such behavior see Priority Ceiling Protocol for details In case of multiple resource occupation the task or ISR must request and release the resources following the LIFO principle stack For example if the task needs to get the communication hardware and then the scheduler to avoid possible preempts the following code may be used GetResource SCI_res occupy the SCI resource soa user s code GetResource RES_SCHEDULER occupy the scheduler resource das user s code ReleaseResource RES SCHEDULER release the scheduler ReleaseResource SCI_res release the SCI resource The OSEK OS resource management allows the user to prevent such situations as priority inversion and deadlocks which are the typical problems of common synchronization mechanisms in real time applications e g semaphores It is not allowed to occupy RES_SCHEDULER resource in the ISR Access to Resources Before they can be used the resources must be defined by the user at the system
196. ializ is running h running code code ation gt During StartupHook all system interrupts are disabled Initializing system and second timers after StartupHook avoids loss of timer interrupts during StartupHook execution Application Modes Application modes are intended to allow OSEK OS to come under different modes of operation The application modes differ in the set of autostarted Tasks and Alarms Once the operating system has been started it is not possible to change the application mode OSEKturbo OS supports up to 8 application modes OSEKturbo OS MPC5xx TR 101 For More Information www freescale com Freescale Semiconductor Inc Error Handling and Special Routines System Shutdown System Shutdown The special ShutdownOS service exists in OSEK OS to shut down the operating system This service could be requested by the application or requested by the operating system due to a fatal error When ShutdownOS service is called with a defined error code the operating system will shut down and call the hook routine ShutdownHook The user is free to define any system behavior in ShutdownHook e g not to return from the routine If ShutdownHook returns the operating system enters lower power mode with all interrupts disabled with the lowest Power down mode It is possible to restart OS by calling setjmp before calling StartOS and then calling longjmp in SHUTDOWNHOOK Programming Issues Configuratio
197. ice call is allowed on task level ISR level and in ErrorHook PreTaskHook and PostTaskHook hook routines This service is not implemented if no events are defined in the configuration file e Standard E_OK no error e Extended E_OS_ID the task identifier is invalid E_OS ACCESS the referenced task is not an Extended Task E_OS_STATE the referenced task is in the suspended state ECC1 WaitEvent StatusType WaitEvent EventMaskType lt Mask gt lt Mask gt an event mask to wait for None The calling task is transferred into the waiting state until at least one of the events specified by the mask is set The task is kept the running state if any of the specified events is set at the time of the service call This call enforces the rescheduling if the wait condition occurs All resources occupied by the task must be released before WaitEvent service call The service can be called from extended tasks which own an event only This service is not implemented if no events are defined in the configuration file e Standard E OK no error OSEKturbo OS MPC5xx TR 205 For More Information www freescale com System Services Event Management Services e Extended E_OS_ACCESS the calling task is not an Extended Task E_OS_RESOURCE the calling task occupies resources Freescale Semiconductor Inc E_OS_CALLEVEL a call at the interrupt level is not allowed
198. ier font The courier typeface is used for code examples in the text References 1 OSEK VDX Operating System v 2 2 10 September 2001 2 OSEK VDX System Generation OIL OSEK Implementation Language v 2 3 10 September 2001 B OSEK VDX Communication v 2 2 2 18 December 2000 OSEKturbo OS MPC5xx TR 17 For More Information www freescale com Introduction Freescale Semiconductor Inc Definitions Acronyms and Abbreviations 4 OSEK Operating System Application Program Interface v 1 00 11 September 1995 ORTI OSEK Run Time Interface v 2 0 Draft c 23 June 1999 OSEK VDX OSEK Run Time Interface ORTI Part A Language Specification v 2 1 1 4 March 2002 OSEK VDX OSEK Run Time Interface ORTI Part B OSEK Objects and Attributes v 2 1 17 April 2002 8 OSEKturbo OS MPC5xx v 2 2 1 User s Manual Definitions Acronyms and Abbreviations The following acronyms and abbreviation are used in this Technical Reference API on Program Interface a set of data types and BCC Basic Conformance Class a defined set of functionality in OSEK for which waiting state of tasks is not permitted BT Basic task the task which never has waiting state CCCB OSEK Conformance Communication Class B CPU Central Processor Unit ECC Extended Conformance Class a defined set of functionality in OSEK for which waiting state of tasks is permitted ET Extended Task the task which may have waiting state HW Hardware ID
199. iled together with the other user s source code The produced code consists of C language definitions and declarations of data as well as C preprocessor directives See System Configuration and Building of Application for details about system generation Application Program Interface NOTE The OSEK Operating System establishes the Application Program Interface API which must be used for all the user actions connected with system calls and system objects This API defines the data types used by the system the syntax of all run time service calls declarations and definitions of the system The OSEK OS data types are described in subsections dedicated to the corresponding mechanisms The syntax of system calls and system configuration statements is described briefly in the corresponding subsections and in detail in System Objects Definition and System Services The user s source code shall strictly correspond to the rules stated in this Technical Reference The OSEK OS may be compiled in Extended Status It means that an additional check is made within all OS activities and extended return codes are returned by all the OS services to indicate errors if any See System Services and Error Handling about Extended Status return values In order to provide the Extended Status in the system the configuration option STATUS must be set to EXTENDED at the configuration stage The OSEKturb
200. implementation independent time management As you can see in Table 2 1 the Conformance Classes in general differ in the degree of services provided for the task management and scheduling the number of tasks per priority multiple requesting Basic Extended Tasks In higher CC an advanced functionality is added for the resource management and event management only But even in BCC1 the user is provided with almost all the OSEK OS service mechanisms The OSEK Operating System is not scaled through the Conformance Classes only but it also has various extensions which can be in any Conformance Class These extensions affect memory requirements and overall system performance The extensions can be turned on or off with the help of the corresponding system configuration options They all are described in System Objects Definition OSEKturbo OS MPC5xx TR 25 For More Information www freescale com Freescale Semiconductor Inc Operating System Architecture Application Program Interface Since the OSEK Operating System is fully statically configured the configuration process is supported by the System Generator SG This is a command line utility which processes system generation statements defined by the user in a special file These statements fully describe the required system features and application object s parameters The SG produces a header file osprop h which is used for system compilation and C code files to be comp
201. in and the scheduler continues execution of Task 2 Synchronization by Events for Full preemptive Scheduling Scheduler Ah 4 Event of Extended task 1 set rese reset Extended task 1 waiting running res tevent wait for event waiting Extended task 2 A lt running set event ready running If non preemptive scheduling is supposed rescheduling does not take place immediately after the event has been set as shown in Figure 8 2 Synchronization by Events for Non preemptive Scheduling Scheduler Event of f Extended task 1 Extended task 1 set reset reset waiting read reset event running wait for event waiting Extended task 2 running set event rescheduling ready Wu nning OSEKturbo OS MPC5xx TR 81 For More Information www freescale com Freescale Semiconductor Inc Events Programming Issues Programming Issues Configuration Options There are no any system configuration options controlling event management in the system Data Types The OSEK Operating System establishes the following data types for the event management e EventMaskType The data type of the event mask e EventMaskRefType The data type to refer to an event mask Reference to EventMaskT ype variable can be used instead of EventMaskRefType variable The only data types must be used for operations with e
202. in the definition file PRIORITY il SCHEDULE FULL AUTOSTART TRUE ACTIVATION 1 STACKSIZE 256 EVENT EventTaskA RESOURCE SCI_res RESOURCE TASKB_ res TASK TaskB a PRIORITY 2 SCHEDULE FULL AUTOSTART FALSE ACTIVATION 1 RESOURCE TASKB_ res y TASK TaskC PRIORITY 33 SCHEDULE FULL AUTOSTART FALSE ACTIVATION 1 TR 200 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Resource Management Services y ISR SCI_handler PRIORITY 4 CATEGORY 2 RESOURCE SCI_res y RESOURCE SCI_res RESOURCEPROPERTY STANDARD RESOURCE TASKB res RESOURCEPROPERTY STANDARD The C language code can be the following TASK TaskA user s code occupy the SCI resource to disable SCI_handler GetResource SCI_res user s code which configures SCI release the SCI resource to enable SCI_handler ReleaseResource SCI_res occupy the resource to avoid starting TaskB GetResource TASKB res ActivateTask TaskB occupy the scheduler to disable rescheduling GetResource RES SCHEDULER ActivateTask TaskC user s code release the scheduler resource ReleaseResource RES SCHEDULER
203. ing ORTI Breakpoints traces and time stamps can be integrated individually into the application software with the help of context switch hook routines PreTaskHook and PostTaskHook OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Debugging Application ORTI Features Additionally the user can set time stamps enabling him to trace the program execution for example at the following locations before calling operating system services e When activating or terminating tasks e When setting or clearing events in the case of Extended Tasks e At explicit points of the schedule ChainTask Schedule e At the beginning or the end of ISR e When occupying and releasing resources or at critical locations ORTI Features ORTI provides two kinds of interfaces to OSEK OS data e Trace interface which means getting an access to the data on a running target when it is essential to trace data changes in a real time e Breakpoint interface which provides an access to desirable data on a stopped target Note that ORTI Trace interface is designed to provide access to requested data in accomplished form that is not requiring an additional processing ORTI Trace Interfaces There are trace ORTI interfaces in run time running task identification ISR identification OSEK OS system calls identification This interface is turned on if DEBUG_LEVEL 2 or greater The special attributes are
204. internal resource of the same priority as the RES_SCHEDULER priority chapter Non preemptive Scheduling The internal resources can be used in all cases when it is necessary to avoid unwanted rescheduling within a group of tasks More than one internal resource can be defined in a system thus defining more then one group of tasks The general restriction on some system calls that they must not be called with the resources occupied see Restrictions when using resources is not applied to the internal resources as the internal resources are handled within those calls The tasks which have the same assigned internal resource cover a certain range of priorities It is possible to have the tasks which do not use this internal resource in the same priority range but these tasks will not belong to the group So they are preemptable by the tasks of the group Programming Issues TR 62 Configuration Option The following system configuration option is intended to decrease the amount of RAM and ROM used by the OS OSEKturbo OS MPC5xx For More Information www freescale com Table 6 1 Freescale Semiconductor Inc Resource Management Programming Issues e ResourceScheduler If this option is set to FALSE RES_SCHEDULER is not supported by the OS Data Types The OSEK OS determines the following data type for the resource management e ResourceType The abstract data type for referencing a resource The on
205. ion of all OSEK OS run time services including hook routines Also declarations of system objects the constructional elements are described here The services are arranged in logical groups for the task management the interrupt management etc Examples of code are also provided for every logical group These examples have no practical meaning they only show how it is possible to use OS calls in an application The following scheme is used for service description Declaration element Operating System interface in ANSI C syntax OSEKturbo OS MPC5xx TR 179 For More Information www freescale com Freescale Semiconductor Inc System Services Task Management Services Input List of all input parameters Description Explanation of the constructional element Particularities Explanation of restrictions relating to the utilization Conformance Specifies the Conformance Classes where the declaration element is provided Service description Syntax Operating System interface in ANSI C syntax Input List of all input parameters Output List of all output parameters Transfers via the memory use the memory reference as input parameter and the memory contents as output parameter To clarify the description the reference is already specified among the output parameters Description Explanation of the functionality of the operating system service Particularities Explanations of restrictions relating to th
206. is set to MPC If this attribute is SWCOUNTER or HWCOUNTER then specific subattributes can be defined for the second timer The SecondTimer attribute and its subattributes can be defined only if SysTimer value is equal to SWCOUNTER or HWCOUNTER The SecondTimer attribute can be defined to HWCOUNTER only if SysTimer value is set to HWCOUNTER COUNTER reference The reference specifies the COUNTER which shall be attached to the system or second timer This attribute shall be defined for system timer and for second timer if respectively SysTimer value and SecondTimer value is SWCOUNTER or HWCOUNTER The same counter can not be attached to both System and Second timers ISRPRIORITY UINT32 The attribute specifies priority of system timer second timer interrupt handler This attribute shall be defined inside the scope of the SysTimer and SecondTimer attributes if these attributes are set to SWCOUNTER or HWCOUNTER The rules defined for PRIORITY attribute of ISR object are also applicable for this parameter OSEKturbo OS MPC5xx For More Information www freescale com NOTE Freescale Semiconductor Inc System Objects Definition OS Definition The values of ISRPRIORITY attribute for the different timer hardware are presented below The value depends on the InterruptDispatcher value Enhanced or not MPC565 563 561 Timer not hardware MPC555 Enhanced Enhanced DEC 16 16 48 PIT RTC 0 2 4 6 8 0 2
207. ith calls of the message service A SymbolicName need not be a data type Variables or constants of SymbolicName can be declared or used e AccessName an unique name defining access to a message object Depending on the chosen configuration a distinction is made between the following AccessName scheme WithCopy configuration A application variable exists as a local copy of the message The name of the variable is the AccessName This variable contains a copy of the corresponding message object WithoutCopy configuration The message object data is accessed via the AccessName This AccessName is a static link it refers directly to the message object data The AccessName refers to the same data RAM as the message object e AccessNamekef the address of the message data field e FlagType the abstract data type for flag identification SendMessage Syntax StatusType SendMessage SymbolicName lt Message gt AccessNameRef lt Data gt Input lt Message gt symbolic name of the message object TR 226 OSEKturbo OS MPC5xx For More Information www freescale com Output Description Particularities Status Conformance Freescale Semiconductor Inc System Services Communication Management Services lt Data gt the reference to the message data to be sent None Unqueued and Queued WithCopy message This service updates the message object lt Message gt with the Data given by
208. itical section Nested occupation of one and the same resource is forbidden The service call is allowed on task level and ISR level but not in hook routines This service is not implemented if no standard resources are defined in the configuration file The code supporting scheduler resource is excluded from application if ResourceScheduler is defined as FALSE in OIL Regarding Extended Tasks please note that WaitEvent within a critical section is prohibited TR 198 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Resource Management Services Status e Standard E_OK no error e Extended E_OS_ID the resource identifier is invalid E_OS_ACCESS attempt to get resource which is already occupied by any task or ISR or the assigned in OIL priority of the calling task or interrupt routine is higher than the calculated ceiling priority Conformance BCC1 ECC1 ReleaseResource Syntax StatusType ReleaseResource ResourceType lt ResID gt Input lt Res D gt a reference to the resource Output None Description This call serves to leave the critical sections in the code that are assigned to the resources referenced by lt ResID gt A ReleaseResource call is a counterpart of a GetResource service call This service returns task or ISR priority to the level saved by corresponded GetResource service Particularities This f
209. laration statement DeclareCounter may be used for compatibility with previous OSEK versions It may be omitted in application code DeclareCounter lt name of counter gt lt name of counter gt a reference to the counter This is a dummy declaration There are no need for this declaration because all system objects are defined at system generation phase BCC1 ECC1 OSEKturbo OS MPC5xx TR 211 For More Information www freescale com System Services Freescale Semiconductor Inc Counter Management Services Syntax Input Output Description Particularities Status Conformance Syntax Input Output TR 212 InitCounter StatusType InitCounter CtrRefType lt CounterID gt TickType lt Ticks gt lt CounterID gt a reference to the counter lt Ticks gt a counter initialization value in ticks None Sets the initial value of the counter with the value lt Ticks gt After this call the counter will advance this initial value by one via the following call of CounterTrigger If there are running attached alarms then their state stays unchanged but the expiration time become indeterminate The service call is allowed on task level only This service is not implemented if no counters are defined in the configuration file The InitCounter service is not defined in the OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo exte
210. le com Freescale Semiconductor Inc Counters and Alarms Programming Issues defined in the OSEK VDX Operating System specification These constants are OSEKturbo extension of OSEK OS OSEKturbo OS MPC5xx TR 77 For More Information www freescale com Freescale Semiconductor Inc Counters and Alarms Programming Issues TR 78 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 8 Events General This chapter is devoted to event management and task coordination by events This chapter consists of the following sections e General e Events and Scheduling e Programming Issues Within the OSEK operating system tasks and ISRs can be synchronized via occupation of a resource see Resource Management Another means of synchronization is the event mechanism which is provided for Extended Tasks only Events are the only mechanism allowing a task to enter the waiting state An event is a synchronization object managed by the OSEK Operating System The interpretation of the event is up to the user Examples are the signalling of a timer s expiry the availability of data the receipt of a message etc Within the operating system events are not independent objects but allocated to Extended Tasks Each event is represented by a bit in event masks which belongs to Extended Tasks Maximum number of events for Extended Task is 32 Each Extended Task has the mask of
211. le com Freescale Semiconductor Inc System Configuration OIL Concept An attribute can have a subattributes which are described in curly brackets Application Definition In the application definition the OSEK application is composed from a set of system objects In general the application can contain more than one system object of the same type Since an application is performed on CPU the entity called CPU is introduced as the top of the description This entity encompasses all local objects such as tasks messages etc Therefore CPU can be considered as a container for application objects This concept is introduced to provide future OIL evolution towards to distributed system support This entity is identified by the keyword CPU Object Definition All objects are described using the same syntax lt object_type gt lt object_name gt lt property_definitions gt Objects are labeled by keywords which shall be written in upper case Object attributes and references are also labeled by the keywords The keywords are introduced in System Objects Definition After an object keyword the object name must follow Name is combined from any symbols up to 32 symbols long A set of attributes and references belonging to an object is enclosed in curly brackets like in C language All assignments are made via the operator Each statement ends with semicolon like in the C language A reference is repre
212. lowed OSEKturbo OS MPC5xx TR 297 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 298 OR0043 OR0044 OR0045 OR0046 OR0047 OR0048 OR0049 OR0050 Attribute not defined in the implementation Error This attribute is not specified in the implementation definition Attribute is already defined Error The attribute with specified name has been already defined Single value is expected Error The attribute requires single value for OIL 2 0 and 2 0e Dependent attributes corresponded to wrong value not allowed Error The subattributes values in the application do not correspond to them in the implementation definition Reference is expected Error Invalid name of the referenced object Referenced object is not found Error The referenced object with specified name is not found Reference type mismatch Error The referenced object type does not correspond to reference type Container attributes are not allowed Error The message is generated if CPU container is defined by attributes Container attributes are allowed only for OIL 2 0e format OSEKturbo OS MPC5xx For More Information www freescale com OR0051 OR0052 OR0054 OR0056 OR0057 OR0058 OR0059 OR0060 Freescale Semiconductor Inc System Generation Error Messages List of Messages Attribute lt name gt
213. lowing limitations for BCC1 class if FastTerminate is set to TRUE ChainTask service shall be called in task function body from the function level in STANDARD status this service does not return a status and can not be used in expressions The service call is allowed on task level only Status e Standard No return to call level E_OS_LIMIT too many activations of lt TaskID gt e Extended E_OS_ID the task identifier is invalid E_OS_RESOURCE the calling task still occupies resources E_OS_CALLEVEL a call at the interrupt level Conformance BCC1 ECC1 Schedule Syntax StatusType Schedule void Input None Output None TR 184 OSEKturbo OS MPC5xx For More Information www freescale com Description Particularities Status Conformance Syntax Input Output Description Freescale Semiconductor Inc System Services Task Management Services If there is a task in ready state with priority higher than assigned priority of calling task the internal resource if any of the task is released the calling task is put into the ready state and the higher priority task is transferred into the running state Otherwise the calling task is continued Rescheduling can only take place if an internal resource is assigned to the calling task during system generation non preemtable tasks are considered as a tasks with internal resource of highest priority For these tasks Sche
214. lt Data gt and requests the transmission of the message object to the receiver The message object is locked during this update and during the transmission of the data to the underlying communication layer The message object is not updated if it is already locked This service updates also the status information of the message object accordingly Unqueued WithoutCopy message This service requests the transmission of the already updated message object to the receiver Allowed for all message types on task level and in message s callback function Unqueued messages in case of WithCopy only are allowed on ISR level and in ErrorHook routine SendMessage does not verify whether the message object has been initialized prior to sending it This service is not implemented if no messages are defined in the configuration file e Standard E_OK no error E_COM_LOCKED message object locked other task or ISR is sending or receiving the same message or this message resource is occupied E_OS_CALLEVEL call at ISR level for queued message or with lt Data gt configured WithOutCopy this status is OSEKturbo extension of OSEK OS e Extended E_COM_ID invalid parameter lt Message gt or sending message other than unqueued one in WithCopy configuration from ISR level BCC1 ECC OSEKturbo OS MPC5xx TR 227 For More Information www freescale com Freescale Semiconductor Inc System Services Communication Man
215. lue shall be defined by numeric value In case of AUTO prescaler value is calculated from the values of ClockFrequency ClockDivider ClockMultiplier and corresponded Period attributes during system generation The Value attribute in the SysTimer attribute scope and the Value attribute inside the SecondTimer attribute shall have the same value if values define the same hardware parameter or any of them shall be AUTO e TimerModuloValue UINT32 This OSEKturbo specific attribute specifies timer modulo value The value of this attribute is fully hardware dependent For more details see PowerPC Platform Specific Features This attribute can be defined if SysTimer or SecondTimer value is SWCOUNTER only If the attribute is set AUTO timer modulo value is calculated from the values of the ClockFrequency ClockDivider ClockMultiplier and corresponded Period attributes during system generation e Freeze BOOLEAN This attribute specifies timer freeze bit value If this attribute has TR 120 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OS Definition value TRUE timer will be frozen during interrupt processing in the debug mode RTSEL ENUM This attribute specifies clock source for RTC and PIT timers The EXTCLK value means that external clock will be used as clock source the OSCM value means that the main crystal oscillator will be used as clock source
216. ly data type must be used for operations with resources Run time Services The OSEK OS provides a set of services for the user to manage resources Detailed descriptions of these services are provided in Resource Management Services Below is only a brief list Resource Management Run time Services Service Name Description GetResource This call serves to occupy the resource to enter critical section of the code assigned to the resource ReleaseResource Releases the resource assigned to the critical section to leave the critical section Resource Definition To define a resource the following definition statement should be specified in the application configuration file RESOURCE ResourceName RESOURCEPROPERTY STANDARD For more details see Resource Definition The declaration statement DeclareResource may be used for compatibility with previous OSEK versions It may be omitted in the application code OSEKturbo OS MPC5xx TR 63 For More Information www freescale com Freescale Semiconductor Inc Resource Management Programming Issues DeclareResource is as follows DeclareResource lt ResourceName gt TR 64 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc l Counters and Alarms General This chapter describes usage of these control mechanisms in OSEK OS This chapter consists of the
217. m counters Attributes of this object type define counter properties A counter has no references it is referenced to by other object The keyword COUNTER is used for this object type OSEK counters are described in section Counters and Alarms The syntax of the counter object is COUNTER lt name of COUNTER gt OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition Alarm Definition MINCYCLE lt integer gt MAXALLOWEDVALUE lt integer gt TICKSPERBASE lt integer gt Attributes The object has the following standard attributes e MINCYCLE UINT32 The attribute specifies the minimum allowed number of counter ticks for a cyclic alarm linked to the counter In fact this parameter has a sense only for systems with extended OS status since it is checked in this case only e MAXALLOWEDVALUE UINT32 The attribute defines the maximum allowed counter value After the counter reaches this value it rolls over and starts count again from zero e TICKSPERBASE UINT32 The number of ticks that are required to reach a counter specific value This value cannot be derived automatically from other counter related attributes The interpretation is up to the user Alarm Definition This object presents alarms Links with other system objects are defined via references The referenced counter and task must be already defined The k
218. mation www freescale com Task Management Tasks Stacks Freescale Semiconductor Inc When rescheduling is performed the scheduler always switches to the task with the highest priority among the ready tasks and the running one Tasks Stacks TR 34 NOTE Stack Allocation Each extended task has its own statically allocated stack The minimal size of the task stack depends on e the scheduling policy non preemptable or preemptable task e the services used by the task e the interrupt and error handling policy e the processor type The recommended values of the minimal task stack size are provided in Stack Size If the task stack is less than the required value for the given application it may cause unpredictable behavior of the task and a system crash Single Stack The single stack is used for the basic tasks in all configurations In the BCC1 conformance class there is only the single stack in the OS It is used for all tasks interrupts and dispatcher In the ECCI class all the basic tasks use the single stack But the extended tasks have their own stacks Interrupts have a separate stack as well The OSEKturbo OS uses the main application stack for a single stack Its size is defined by the user at the link stage OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Task Management Programming Issues Programming Issues Configuration Options The followi
219. mber of Counters e A is the number of Alarms e M isthe number of Messages TR 280 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Memory Requirements Data Sheet for Diab CC Data Sheet for Diab CC Table C 1 Operating System Memory Requirements Diab CC Num ber System Properties configuration Confor mance Class RAM ROM 0 Initial 1 Initial SCHEDULE NON for all tasks 2 Initial SCHEDULE NON for one task and FULL for other one Changed STATUS E EXTENDED Changed ERRORHOOR TRUE Changed USEGETSERVICEID USEPARAMETERACCESS TRUE Initial Counter defined Changed arm wit ACTION ACTIVATETASK defined Initial Message with ACTION NONE defined Initial Message with ACTION ACTIVATETASK defined Initial Message with ACTION CALLBACK defined Initial Resource for task defined Changed ISR category 2 defined Changed InterruptDispatcher OneLevel Changed Resource referenced by ISR BCC1 13 1 T 820 5 T 13 1 T 756 5 T 13 1 T 836 5 T 101 88 T 1356 8 T 102 88 T 1744 8 T 107 88 T 1984 8 T 13 1 T 8 C 1076 5 T 8 C 13 1 T 12 C 20 A 1932 5 T 8 C 2 A 13 1 T 16 M 1224 5 T 12 M 13 1 T 20 M 1372 5 T 16 M 13 1 T 20 M 1312 5 T 16 M 113 92 T 1200 8 T 1 R 114 9
220. mber of recursive references Input OIL file must be defined Fatal Error The input OIL file cannot be found if it does not exist or you do not have permission to open the file or directory Processing halted possibly there is not enough memory Fatal Error The message is generated by the SysGen either there is no enough free RAM memory on users PC or some internal error is occurred and it would be resolved with the help of support team Please report to osek helpline sps mot com Error loading Target DLL lt name gt Fatal Error Target DLL with the specified name is absent OSEKturbo OS MPC5xx For More Information www freescale com SG0202 SG0203 SG0204 SG0301 SG0303 SG0401 SG5001 Freescale Semiconductor Inc System Generation Error Messages List of Messages Wrong Target DLL lt name gt version Fatal Error Target DLL version shall be 1 x or 2 x Other versions of Target DLL are not supported Target DLL lt name gt failed Fatal Error Target DLL is corrupted Target DLL lt name gt cannot be found Fatal Error The Target DLL name is not found in the Windows Registry Implementation definition database in Windows Registry is invalid or does not exist Fatal Error Implementation definition database defined by installation program was corrupted or removed Container lt name gt does not exist Fatal Error Implementation definition database does not contain information
221. mming Issues General The resource management is used to coordinate concurrent access of several tasks or and ISRs to shared resources e g management entities scheduler program sequences critical sections memory or hardware areas In the OSEKturbo OS the resource management is provided in all Conformance Classes The resource management ensures that e two modules tasks or ISRs cannot occupy the same resource at the same time e priority inversion cannot arise while resources are used e deadlocks do not occur due to the use of these resources e access to resources never results in waiting state The functionality of the resource management is only required in the following cases e full preemptable tasks e non preemptable tasks if the user intends to have the application code executed under other scheduling policies too 1 This is the OSEKturbo extension of OSEK OS which fully supports resources only in BCC2 and ECC conformance classes OSEKturbo OS MPC5xx TR 57 For More Information www freescale com Freescale Semiconductor Inc Resource Management Access to Resources e resource sharing between tasks and or ISRs Resources cannot be occupied by more than one task or ISR at a time The resource which is now occupied by a task or ISR must be released before another task or ISR can get it The OSEK operating system ensures that tasks are only switched from ready to running state if all the resources w
222. n calls take the one with the largest stack usage and add amount used by empty task to the stack usage If there are ISRs add stack size needed for ISR MPC555 Features TR 160 Programming Model MPC 5200 can operate at either of two privilege levels Supervisor level is more privileged than user level OSEK OS uses supervisor programming model so start up code should provide correct initialization OSEK OS always works in the big endian byte ordering mode OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features Target Hardware Initialization OSEK OS does not provide target hardware except used by system timers initialization possibilities therefore target hardware initialization memory used PowerPC cache settings etc should be performed before system startup Interrupt Vector Table If the InterruptDispatcher attribute has value OneLevel MultiLevel or Enhanced OS MPC provides the external interrupt sharing 0xYYY00500 interrupt vector distinction and the appropriate interrupt handler call In this case OS MPC snaps up the external interrupt exception makes required save restore operations and calls appropriated interrupt handler If the InterruptDispatcher attribute has None value and user needs to add ISRs he has to modify the vector table Also vector table should be modified if user wants to use a
223. n Options The following configuration options affect error handling and hook routines ERRORHOOK If this option is turned on the ErrorHook is called by the system for error handling USEGETSERVICEID If this option is turned on it allows to get the service ID inside ErrorHook USEPARAMETERACCESS If this option is turned on it allows to get the first service parameter value inside ErrorHook PRETASKHOOK If this option is turned on the PreTaskHook is called by the system before context switching POSTTASKHOOK If this option is turned on the PostTaskHook is called by the system before context switching TR 102 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Error Handling and Special Routines Programming Issues e STARTUPHOOK If this option is turned on the StartupHook is called by the system at the end of the system initialization e SHUTDOWNHOOK If this option is turned on the ShutdownHook is called by the system when the OS service ShutdownOS has been called e IdleLoopHook If this OSEKturbo specific option is turned on the IdleLoopHook is called from the scheduler idle loop OSEKturbo OS MPC5xx TR 103 For More Information www freescale com Freescale Semiconductor Inc Error Handling and Special Routines Programming Issues TR 104 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 11 System Configuration
224. nction modifier which is used to generate valid code to enter and exit ISR ISR Declaration The constructional statement DeclareISR may be used for compatibility with previous OSEK versions It may be omitted in application code Syntax DeclareISR lt name of ISR gt Input lt name of ISR gt areference to the ISR Description This is a dummy declaration Particularities There are no need for this declaration because all system objects are defined at system generation phase Conformance BCC1 ECC1 EnableAllinterrupts Syntax void EnableAllInterrupts void Input None Output None Description This service restores the interrupts state saved by DisableAllInterrupts service It can be called after DisableAllInterrupts only This service is a counterpart of DisableAllInterrupts service and its aim is the completion of the critical section of code No API service calls are allowed within this critical section Particularities The service may be called from an ISR and from the task level but not from hook routines 1 This declaration is not defined by OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS TR 190 OSEKturbo OS MPC5xx For More Information www freescale com Status Conformance Syntax Input Output Description Particularities Status Conformance Syntax Freescale Semiconductor Inc
225. ndTimer SWCOUNTER COUNTER CounterName2 SRPRIORITY 0 TimerHardware PIT Prescaler OS Value 0 no divide 4 MHz y TimerModuloValue 999 y y bi For the system hardware timer value of 1000ns for Period causes SysGen to calculate 0 divide by 4 as a Value for Prescaler resulting source frequency for TimeBase TMBCLK is 1MHz For the SecondTimer Prescaler Value 0 factor 4 divides the oscillator clock to 1MHz and the TimerModuloValue 999 causes an interrupt to occur every 1000 ticks 1ms MPC565 563 561 Features The enhanced interrupt controller of MPC565 561 is supported in addition to all MPC features The above MPC555 Features is fully OSEKturbo OS MPC5xx TR 171 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC565 563 561 Features TR 172 NOTE applicable for MPC565 563 561 Code compression is not supported for MPC565 563 561 Regular Interrupt Controller Operation MPC555 Compatible Mode The above Interrupt Dispatcher is fully applicable for this mode of the interrupt controller In this mode InterruptDispatcher attribute shall have the value of None OneLevel or Multilevel Enhanced Interrupt Controller The enhanced interrupt controller operation may be turned on for MPC565 563 561 by assigning an Enhanced value to InterruptDispatcher attribute In this mode the 32 IMB i
226. ne To implement ErrorHook the routine with name ErrorHook shall be defined in user s code This routine is called by the operating system at the end of a system service which has a return value not equal to E_OK if not specified other It is called before returning to the task level This hook is also called from OS dispatcher when an error is detected during task activation or event setting as a result of an alarm expiry or a message arrival or if a rescheduling occurs after Suspend OS All Interrupts before call to appropriate Resume function ErrorHook can not be nested Therefore the error hook is not called if a system service called from ErrorHook and does not return E_OK as a status value See Hook Routines for general description of hook routines This hook is not called if the system configuration option ERRORHOOK is set to FALSE OSEKturbo OS MPC5xx TR 241 For More Information www freescale com Freescale Semiconductor Inc System Services Operating System Execution Control Interrupts category 2 and interrupts category 1 if their priority is not higher than any ISR category 2 priority are disabled in ErrorHook There is a set of special macros to get the ID of service where error has occured and it s first argument see Macros for ErrorHook Conformance BCC1 ECC1 PreTaskHook Syntax void PreTaskHook void Input None Output None Description To implement PreTaskHook the routine
227. ng system configuration options affect the task management e STATUS Specifies error checking at run time e StackOverflowCheck Turns on stack overflow runtime checking and stack usage services e CC Specifies the conformance class If AUTO the conformance class is defined according to the task definitions Data Types The OSEK OS establishes the following data types for the task management e TaskType The abstract data type for task identification TaskRefType The data type to refer the variables of the TaskType data type Reference to the TaskType variable can be used instead of the TaskRefType variable TaskStateType The data type for the variables for storage of the task state TaskStateRefType The data type to refer the variables of the TaskStateType data type Reference to the TaskStateType variable can be used instead of the TaskStateRefType variable Only these data types may be used for operations with tasks Task Definition Every task in an application is generated using the TASK system generation object with the set of properties in OIL file These properties define the task behavior and the resource allocation OSEKturbo OS MPC5xx TR 35 For More Information www freescale com Freescale Semiconductor Inc Task Management Programming Issues method Each task property has its own name and the user defines the task s features by setting the corresponding properties in the task definition See
228. nition e APPMODE reference The attribute defines an application mode in which the task is auto started The attribute can be defined if the AUTOSTART attribute is set to TRUE It may be ommited if only one APPMODE is defined e ACTIVATION UINT32 The attribute defines the maximum number of queued activation requests for the task OSEKturbo OS does not support multiple activation so this value is restricted to 1 e STACKSIZE UINT32 This OSEKturbo specific attribute defines the task stack size in bytes It is applicable for extended tasks only e RESOURCE reference This reference is used to define a resource accessed by the task If the task accesses a resource at run time this resource shall be pointed The resource Ceiling priority is calculated as the highest priority of tasks or ISRs accessing this resource There can be several RESOURCE references This parameter can be omitted e EVENT reference This reference is used to define an event the extended task may react on The task is considered as extended if any event is reverenced Otherwise the task considered as basic There can be several EVENT references These events can be cleared and waited for by the task All task events shall be pointed to define the event mask in case of auto assignment see section Event Definition e ACCESSOR ENUM The attribute is used to define type of usage for the message The task uses the accessor for definition of references
229. nked to another resource with the property STANDARD or LINKED The INTERNAL value is appropriate to an internal resource which cannot be accessed by the application OSEKturbo OS MPC5xx TR 133 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition Event Definition Performance decreases if the RESOURCE object with the INTERNAL value of the RESOURCEPROPERTY subattribute is defined e LINKEDRESOURCE reference The attribute specifies the resource to which the linking shall be performed The OS System Generator resolves chains of linked resources This reference should be defined only if the value of the RESOURCEPROPERTY attribute is LINKED Event Definition This object is intended for the event management The event object has no references The keyword EVENT is used for this object type Section Events describes events in OSEK The syntax of the event object is as follows EVENT lt name of EVENT gt MASK lt integer AUTO gt y Attribute The object has one standard attribute e MASK UINT64 The event is represented by its mask The event mask is the number which range is from 1 to OXFFFFFFFF preferably with only one bit set The other way to assign event mask is to declare it as AUTO In this case event masks will be assigned automatically according to their distribution among the tasks Counter Definition TR 134 This object presents OSEK Operating syste
230. nsion of OSEK OS e Standard E_OK no error e Extended E_OS_ID the counter identifier is invalid E OS VALUE the counter initialization value exceeds the maximum admissible value E_OS_CALLEVEL a call at interrupt level not allowed BCC1 ECC1 CounterTrigger StatusType CounterTrigger CtrRefType lt CounterID gt lt CounterID gt a reference to the counter None OSEKturbo OS MPC5xx For More Information www freescale com Description Particularities Status Conformance Syntax Input Output Description Freescale Semiconductor Inc System Services Counter Management Services The service increments the current value of the counter If the counter value was equal to maxallowedvalue see Data Types and Identifiers it is reset to zero If alarms are linked to the counter the system checks whether they expired after this tick and performs appropriate actions task activation and or event setting The service call is allowed on task level and ISR level but not in hook routines This service may be used only on software counters It has no sense to use this service on a hardware counter This service is not implemented if no counters are defined in the configuration file The CounterTrigger service is not defined in the OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS e Standar
231. nternal resources the resource is released Task 4 is returned to its low priority and becomes ready and Task 1 becomes the running task When Task 1 in turn occupies the resource its priority is also changed to the Ceiling Priority Scheduler as a Resource The OSEK operating system treats the scheduler as a specific resource which is accessible to all tasks Therefore a standard resource with the predefined identifier RES_SCHEDULER is generated and it is supported in all Conformance Classes If a task calls the services GetResource or ReleaseResource with this identifier as a parameter the task will occupy or release the scheduler in the manner of a simple resource See the code example in General If a task wants to protect itself against preemptions by all other tasks it can occupy the scheduler exclusively When it is occupied interrupts are received and processed normally However it prevents the tasks rescheduling NOTE lfa task gets the scheduler as a resource it must release it before the point of rescheduling Reference to RES_SCHEDULER from TASK object is optional The user may define the resource with the name RES_SCHEDULER in the OIL file but this resource will have the maximal scheduler prioriry regardless of which tasks have the reference to it The RES_SCHEDULER is referenced and can be used from any task by default The RES_SCHEDULER resource cannot be occupied from the ISR Internal resources The i
232. nternal resources are the resources which are not visible to the user and therefore they can not be addressed by the system functions GetResource and ReleaseResource Instead they are managed strictly internally within a clearly defined set of the system functions Besides the behaviour of the internal resources is exactly the same as the behaviour of standard resources the priority ceiling protocol etc At most one internal resource can be assigned OSEKturbo OS MPC5xx TR 61 For More Information www freescale com Freescale Semiconductor Inc Resource Management Programming Issues to a task during the system generation If an internal resource is assigned to a task the internal resource is managed as follows e The resource is automatically taken when the task enters running state except when it has already taken the resource As a result the priority of the task is automatically changed to the ceiling priority of the internal resource e At the points of rescheduling defined in chapter Scheduling Policy the resource is automatically released The tasks which have the same internal resource assigned form a group of tasks The tasks within a certain group behave like the non preemptable tasks they can not preempt each other while the tasks with the priority higher than the highest priority within the group preempt the tasks within the group The non preemptable tasks may be considered as a special group with an
233. nterrupt levels will be latched by USIU using eight IMB interrupt lines and two lines of ILBS via time multiplexing scheme defined by the UIMB module In addition to the IMB interrupt sources the external interrupts and timer interrupts are available by the same way as in the regular scheme Current version of OSEKturbo OS MPC5xx does not support the time multiplexing scheme User should choice the multiplexing scheme by the UIMB module configuration Table 14 5 is a summary of interrupt sources and levels for MPC565 563 561 and according ISR PRIORITY attribute value For system operating properly all ISR definition in the OIL file shall have different values of the PRIORITY attribute in accordance with Table 14 5 ISR which is intended for the non external interrupt processing DEC for instance shall have the highest priority for platform 48 for MPC565 with Enhanced Interrupt Controller turned on When Enhanced Interrupt Controller is turned on the user ISRs of category 1 are invoked directly by hardware without any interaction with OS It is the user responsibility to enable interrupts inside ISR s code via setting EE bit in MSR in order to use nesting of ISRs of category 1 OSEKturbo OS MPC5xx For More Information www freescale com Table 14 5 Freescale Semiconductor Inc PowerPC Platform Specific Features MPC565 563 561 Features Sources Versus Levels and PRIORITY for MPC565 563 561
234. nue running TimeScale has three steps 1 On first step TASKSNDI task is activated It does the following e gets MSGAACCESS resource to prevent access to MsgA message e increments MsgA message value e send MsgA message without cop MsgA message sets MSGAEVENT event for TASKRCVI task e releases MSGAACCESS resource e terminates itself 2 On second step TASKSND2 task is activated Task TASKSND2 e adds 3 to ind variable value e if ind variable value greater or equal 5 then subtracts 5 from ind value TR 262 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Sample Application Source Files stores SYSTEMTIMER value to body of MsgB message copy gets MSGBACCESS resource to prevent access to MsgB message send MsgB message with copy message MsgB activates TASKRCV2 task releases MSGBACCESS resource terminates itself 3 On third step TASKCNT task is activated TASKCNT task e increments TSCOUNTER counter when TSCOUNTER counter value reaches 20 STOPALARM expires e terminates itself TASKRCV2 task e gets MSGBACCESS resource to prevent access to MsgB message e receives MsgB message without copy e releases MSGBACCESS resource e terminates itself TASKSTOP task e stops TimeScale after a while TIMLIMITALARM expires e terminates itself The user can watch ind variable messages content and so on Source Files Source files for the
235. ny other vectors besides external interrupt and decrementer vectors The interrupt vector table is defined in the file vector c which is delivered with the OSEK Operating System and located in the HWSPEC directory This file is the example of the interrupt vector table coding The user should copy this file into the project directory and then modify it as needed For ISRs of category 2 the following interrupt table entries may be used Let s assume that ISR is defined via the following statement in configuration OIL file ISR lt nameISR gt ISR category should be defined her y In this case interrupt vector table should contain absolute branch MPC ba instruction to lt nameISR gt interrupt handler asm ba lt nameISR gt And ISR handler definition should look like the following in the application source file OSEKturbo OS MPC5xx TR 161 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features TR 162 ISR lt nameISR gt ISR body should be defined here The user shouldn t remove references to System and Second Timer ISR s if they are used by application Please see vector c located in HWSPEC directory for details Low Power Mode The user can configure OSEK OS to use low power mode when system runs idle HCLowPower configuration option see Global System Attributes If
236. o OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Contents Alarm Definition dro dl a E he te AL bd Ms oe cs Me 135 Attributes ill GP ede ee eee GB one ta Be Pe 136 Message Definition y ia ce ald a eet de GAS ee a ow 137 Attributes 3 s aise ac we Sea Be AOE Se we BE BS RS Ee we 138 Application Modes Definition 2 a a a a 0 139 COM Definition aaa AA a e a 139 Attributes Sia ER owe Se bet BORE ae 140 NM Definition 0 Pei ee E E Se Se ee 140 OSEKturbo Performance Dependency 4 140 13 Building of Application 143 Application Structure go Pak Soe ay Ss Bes I 143 Action Sequence to Build an Application 2 2 2 we 144 Application Configuration aliena GA woe Re a 145 SOUrCe Hles 2 ee ai Ged Ge Ge A Ba te BO Be e 147 Compiling and Linking ata hu w amp Sah each Be Bos 150 OS Object Files Dependency 0 0 0 eones a e 150 Sample Application de dossi a me Spree Le 152 14 PowerPC Platform Specific Features 153 Compiler Specific Features ta a a Gute Has A A A 153 Used Library Functions x curia a a 153 Compiler Issues 44 405 A A AA 153 Options for Diab Data Software 2 2 2 aa 154 Options for Metrowerks Software a u a a a a a a 155 Link OS Code into Special Segment 156 Linker Command File for Diab CC aaa 156 Linker Command File for Metrowerks Linker for Embedded PowerPC lle at at OEY Bade we a So She Ht i od 15
237. o OS provides support for the OSEK aware debuggers by means of the OSEK Run Time Interface ORTI See OSEKturbo OS MPC5xx TR 26 For More Information www freescale com Freescale Semiconductor Inc Operating System Architecture Application Program Interface Debugging Application and Global System Attributes for details OSEKturbo OS MPC5xx TR 27 For More Information www freescale com Freescale Semiconductor Inc Operating System Architecture Application Program Interface TR 28 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 3 Task Management This chapter describes the task concept of the OSEK and all other questions related to tasks This chapter consists of the following sections e Task Concept e Task Priorities e Tasks Stacks e Programming Issues Task Concept Complex control software can be conveniently subdivided into parts executed according to their real time requirements These parts can be implemented by means of tasks The task provides the framework for execution of functions The Operating System provides parallel and asynchronous task execution organization by the scheduler Two different task concepts are provided by the OSEK OS e Basic Tasks BT e Extended Tasks ET The Basic Tasks release the processor only if e they are being terminated e the OSEK OS is executing higher priority tasks or
238. o reach a specific unit of counter lt cname gt TR 210 OSEKturbo OS MPC5xx For More Information www freescale com NOTE Syntax Input Description Particularities Conformance Freescale Semiconductor Inc System Services Counter Management Services e OSMINCYCLE_cname Minimum allowed number of ticks for a cyclic alarm of counter lt cname gt This constant is not defined in STANDARD status For system counters which are always time counters the special constants are provided by the operating system e OSMAXALLOWEDVALUE OSMAXALLOWEDVALUE2 maximum possible allowed value of the system second timer in ticks see also Counter Definition OSTICKSPERBASE OSTICKSPERBASE2 number of ticks required to reach a counter specific value in the system second counter see also Counter Definition OSTICKDURATION OSTICKDURATION2 duration of a tick of the system second counter in nanoseconds defined automatically by System Generator utility see also CPU Related Attributes OSMINCYCLE OSMINCYCLE2 minimum allowed number of ticks for a cyclic alarm attached to the system second counter only for system with Extended Status see also Alarm Definition OSMAXALLOWEDVALUE2 OSTICKSPERBASE2 OSTICKDURATION2 and OSMINCYCLE2 constants are not defined in the OSEK VDX Operating System v 2 2 10 September 2001 specification These are OSEKturbo extension of OSEK OS Counter Declaration The dec
239. obal or into the local memory of the functions ISR accessors access the messages through the copies only The SendMessage and ReceiveMessage services ensure that the consistent writing and reading of message data within the send and receive operation also in preemptive systems When an Unqueued Message is received with copy the information from the message buffer is copied to the message copy and further work with message information is performed using this copy When an Unqueued Message is sent with copy the information from the message copy is replicated to the message buffer and message initialization is performed using the message copy When an Unqueued Message is received without copy the information from the message buffer is accessed directly by the user application and consistency of the information is not guaranteed When an Unqueued Message is sent without copy the information from the message buffer is accessed directly by the user application and consistency of the information is not guaranteed The ACCESSNAME attribute defines the symbol that will be used in C code to access message data AccessNameRef of SendMessage ReceiveMessage services is a pointer to symbol specified in ACCESSNAME attribute For example type _accessor _accessor valuel 0 _accessor value2 20 SendMessage MsgA amp _accessor where type is the value of CDATATYPE attribute for MsgA message object in OIL file Then _accessor can be use
240. oblems are possible if pointers are used to access stack variables but stack pointer problems seem to be more common The symptom of either problem is usually a task or ISR executing normally but then when OSEKturbo OS MPC5xx TR 175 For More Information www freescale com Freescale Semiconductor Inc Application Troubleshooting Unregistered External Interrupts NOTE a return is performed the program executes at some incorrect address Tasks should have enough stack for their execution therefore it is recommended to pay attention on task definition statements to provide each task with a needed amount of stack See PowerPC Platform Specific Features The optional stack overflow checking during run time are implemented in OSEKturbo OS for debugging application See Stack Overflow Checking Unregistered External Interrupts If interrupt dispatcher is used then external interrupts shall be registered in the system that is they shall be defined in the application oil file System will stop on the OxYYY1000 vector if unregistered interrupt occurs OSEK OS does not support reset of all interrupt sources during initialization Known Problems TR 176 Troubleshooting Problem A Error while running SETUP EXE from a network drive Resolving Start SETUP EXE from local drive Problem B Installation program produces error message Cannot detect installation media Installation failed Reason Installati
241. of TimerModuloValue is AUTO Error The Period attribute shall be defined if the Value or and TimerModuloValue attributes inside SysTimer attribute is AUTO Cannot calculate with defined TimerModulo Value Error If prescaler value is AUTO and timer modulo value is defined by the user then prescaler cannot be calculated during system generation Prescaler Values shall be identical for both timers Error The Prescaler attribute in the SysTimer attribute scope and the Prescaler attribute inside the SecondTimer attribute shall have the same value Modulo value cannot fit in range Period is too long Error The message is generated if the modulo value is more than hardware allows for any prescaler value Modulo value cannot fit in range Period is too short Error The message is generated if the modulo value is less than hardware allows for any prescaler value StepTime value is too big Error Specified value of the StepTime attribute cannot be initialized in hardware StepTime value cannot be represented precisely in hardware settings Error The value of StepTime attribute differs from time that can be represented in hardware OSEKturbo OS MPC5xx TR 313 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 314 TD0525 TD0526 TD0527 TD0740 TD0741 TD0750 TD0752 Specify StepTime value in multiples of lt number
242. on files were copied into NTFS partition archive file attribute flags are cleared for some of them and compress file attribute flags are set for some of them Workaround Set archive file attribute flag for all the installation files Problem C Development software does not work under MS Windows OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Application Troubleshooting Known Problems Reason 1 Inappropriate development hardware or software is used Reason 2 OSEK OS mpc software is installed into the directory with spaces like C Program Files Workaround 1 Install the software into the directory without spaces for example C metrowerks osek Reason 3 Environment variables OSEKDIR DIABDIR CWDIR are not correct Workaround 1 Set correct environment variables Problem D The NMAKE or the MAKE generates a wrong output Reason 1 The needed directories and files are not installed properly Resolving 1 Check the integrity and consistency of the package using FILELIST TXT Reason 2 The needed software is not installed or installed improperly Resolving 1 Check the installed software listed above Resolving 2 Check the correctness of the software installation environment variables etc Problem E Shared files are not removed from BIN directory during uninstallation of OSEK OS Reason Current
243. on there are two types of messages unqueued and queued Queued message data is buffered and consumed by receive operations Unqueued message data is not consumed and overwritten each time e QUEUEDEPTH UINT64 The attribute specified if the message has a queue If used for internal communication the COM conformance class will be CCCB The parameter can be defined only if the TYPE attribute is QUEUED e CDATATYPE STRING The attribute defines the data type of the message item The message item can have the own type which has to be any C data type Any ANSI C type specifier is allowed It is the standard C type identifier char int float double with any type modifiers signed unsigned short long and also structure or union specifier starting struct or union enum specifier starting enum typedef name any valid C language identifier enclosed in the double quotas To use an array of standard C language type the user must define the new type via typedef operator In case of user s defined data types or enumerations such definitions must be in the user s code before using files produced by SG e ACTION ENUM The attribute defines which type of task notification is used when the message arrives Only one action per message is provided e TASK reference The reference specifies the task which shall be notified when the message arrives This reference shall be defined only if the value of the ACTION attribute is ACTIVATETASK o
244. onight at midnight Warning This warning appears when the license expires at this day TD0250 Attribute lt name gt is not converted Warning The message is generated if the attribute defined for implementation according to OIL 2 0 2 1 standard cannot be converted to an attribute applicable to OIL 2 2 implementation This attribute does not exist in the new implementation and source and target implementations have not equivalent attribute TD0251 Cannot set to value lt value gt TDO0500 TDO0501 Warning The message is generated if the attribute defined for implementation according to OIL 2 0 2 1 standard being converted to an attribute applicable to OIL 2 2 implementation cannot accept old value It can be caused out of range for new attribute ORTIFULL license not found ORTI file will not be generated Warning ORTIFULL license shall be installed for ORTI files generation EVENT masks don t arrange into 32 bits Error The number of supported event is 32 per task but this error can be generated also in case if some events have AUTO mask but other events have user defined mask with several bits set OSEKturbo OS MPC5xx TR 311 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 312 TD0507 TD0509 TD0513 TD0515 TD0516 TD0517 RESOURCE is declared but never used Error The resource Ceiling priority is calculate
245. option is turned on the System Timer is used e SecondTimer If this option is turned on the Second Timer is used e TimeScale If this option is turned on the Time Scale is used TimeScale is OSEKturbo extension of OSEK OS OSEKturbo OS MPC5xx TR 71 For More Information www freescale com Freescale Semiconductor Inc Counters and Alarms Programming Issues Data Types The following data types are established by OSEK OS to work with counters e CtrRefType The data type references a counter e TickT ype The data type represents a counter value in system ticks e TickRefT ype The data type references data corresponding to the data type TickType Reference to TickType variable can be used instead of TickRefType variable e CtrInfoType This data type represents a structure for storage of counter characteristics This structure has the following fields maxallowedvalue maximum possible allowed count value ticksperbase number of ticks required to reach a counter specific significant unit mincycle minimum allowed number of ticks for a cyclic alarm only for system with Extended Status All fields have the data type TickType The following code may illustrate usage of this data type CtrInfoType CntData TickType maxV minC cons GetCounterInfo CntID amp CntData maxV CntData maxallowedvalue minC CntData ticksperbase cons CntData mincycle e CtrInfoRefType This data type re
246. orHook is called if a system call returns a value not equal to E_OK System shutdown The corresponding hook routine ShutdownHook is called Besides standard OSEK OS hook routines there are additional hook routine in OSEKturbo OS MPC5xx used for Performing user s specific operations when no task is running IdleLoopHook The OSEKturbo OS provides the following hook routines ErrorHook PreTaskHook PostTaskHook StartupHook ShutdownHook and IdleLoopHook The user must create the code of these routines the OS only provides description of function prototypes dleLoopHook routine is OSEKturbo extension of OSEK OS OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Error Handling and Special Routines Hook Routines ErrorHook this hook is called by the Operating System at the end of a system service which has a return value not equal to E_OK see Error Interface It is called before returning from the service It is also called when an alarm expires and an error is detected during task activation or event setting PreTaskHook this hook is called before the operating system enters the context of the task This hook is called from the scheduler when it passes control to the given task It may be used by the application to trace the sequences and timing of the tasks execution PostTaskHook This hook is called after the operating system leaves the context of t
247. ore Information www freescale com Freescale Semiconductor Inc Task Management Programming Issues TR 40 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 4 Scheduler General This chapter provides a description of scheduling policies in OSEK OS This chapter consists of the following sections e General e Scheduling Policy e Programming Issues The algorithm deciding which task has to be started and triggering all necessary OSEK Operating System internal activities is called scheduler It performs all actions to switch the CPU from one instruction thread to another It is either switching from task to task or from ISR back to a task The task execution sequence is controlled on the base of task priorities see section Task Priorities and the scheduling policy used The scheduler is activated whenever a task switch is possible according to the scheduling policy The principle of multitasking allows the operating system to execute various tasks concurrently The sequence of their execution depends on the scheduling policy therefore it has to be clearly defined Scheduler also provides the endless idle loop if there is no task ready to be running It may occur when all tasks are in the suspended or waiting state until the awakening signal from an Interrupt Service Routine occurs In this case there is no currently running task in the system and the scheduler oc
248. ormation www freescale com Syntax Input Description Particularities Conformance Syntax Input Output Description Freescale Semiconductor Inc System Services Alarm Management Services mincycle minimum allowed number of ticks for the cycle parameter of SetRelAlarm and SetAbsAlarm services only for system with Extended Status All elements of the structure are of data type TickType e AlarmBaseRefType the data type references data corresponding to the data type AlarmBaseType e AlarmType the data type represents an alarm object Constants OSMINCYCLE minimum allowed number of ticks for a cyclic alarm only for system with Extended Status Alarm Declaration The declaration statement DeclareAlarm may be used for compatibility with previous OSEK versions It may be omitted in application code DeclareAlarm lt name of alarm gt lt name of alarm gt a reference to the alarm This is a dummy declaration There are no need for this declaration because all system objects are defined at system generation phase BCC1 ECC1 GetAlarmBase StatusType GetAlarmBase AlarmType lt AlarmID gt AlarmBaseRefType lt InfoRef gt lt AlarmID gt a reference to the alarm lt InfoRef gt a pointer to the structure lt InfoRef gt with returned values of the alarm base Reference to AlarmBaseType variable can be used instead of AlarmBaseRefType variable The s
249. ows a debugger to display task information using values that the user sets in the OIL file The following information about OS is available to the user e current application mode This attribute specifies the current application mode The current application mode value presents a one byte memory block which represents a mode identifier e running task priority This attribute specifies the current priority of the task reffered by the running task attribute The value of this attribute is provided with taking into account possible task priority changes due to a dynamic resource allocation e last error This attribute specifies the code of the last error detected The last error attribute value presents a one byte memory block which represents an error code identifier This value is updated with error identifier when error occurs At start up the error code is initialized with E_OK It is never set back to E_OK after first error The following task information is available to the user e property The task property indicates static properties of the task e priority The task priority value is provided with taking into account possible task priority changes due to a dynamic resource allocation e task state The task state indicates a standard OSEK state the task is currently in e task stack in ECC1 class The task stack shows which stack area is used by the task TR 254 OSEKturbo OS MPC5xx For More Information www free
250. provides interrupt dispatcher for the external interrupt distinction There is an InterruptDispatcher attribute which defines the type of OS interrupt dispatcher It may have value of None or OneLevel or MultiLevel for MPC565 563 561 it also can have a value Enhanced In order to use Interrupt Dispatcher the user should set up interrupt level into control register of interrupt source for each external interrupt For example this initialization might be done before StartupOS call or from other part of user s code according to design Besides for each external interrupt it is necessary to define an ISR object in the OIL file and assign the PRIORITY attribute value according to the interrupt level set up in the controls register of the interrupt More details about the interrupt dispatcher see Interrupt Related Properties and Interrupt Dispatcher For more detailed information about MPC interrupt controller see MPC User s Manuals OSEKturbo OS MPC5xx TR 51 For More Information www freescale com Freescale Semiconductor Inc Interrupt Processing Programming Issues Programming Issues Configuration Options e InterruptDispatcher Specifies mode of interrupt dispatcher Run time Services OSEK OS provides the set of services for interrupt management These services are shown in the Table 5 1 Table 5 1 Interrupt Management Services in OSEK OS Service Name Description DisableAlllnterrupts Disable
251. queue A Queued Message would normally be used to track changes of state within a system where it is important that receiver maintains synchronisation of state information with the sender OSEKturbo OS MPC5xx TR 85 For More Information www freescale com Communication Unqueued Messages Freescale Semiconductor Inc In OSEK OS message objects are referenced by tasks and ISRs via the unique identifiers defined by the user at the configuration stage The OSEK Operating System ensures data consistency of message data during task operation uniform in all types of scheduling The received unqueued message data remains unchanged until a further send operation is performed unless the task or function using the data overwrites the data with a direct access operation As an option task activation event signalling flag or callback function can be defined statically to be performed at message arrival to notify a task Task activation or event signalling can be used to inform tasks that want to act immediately on new message information There is no special operating system service to wait for messages but the normal event mechanism is used Only one notification method can be assigned for certain message OSEK OS communication services provide all means for internal message transfers To transfer data over the network the OSEK Communication System COM shall be used which is designed to handle all other types of communication through th
252. r E_COM_LIMIT 36 Overflow of FIFO associated with queued messages E_COM_LOCKED 39 Rejected service call message object locked due to a pending operation E COM_NOMSG 41 No message available E OS_SYS_xxx are not defined in the OSEK OS v 2 2 specification This is OSEKturbo extension of the OSEK OS Errors committed by the user in direct conjunction with the Operating System can be intercepted to a large extent via the Extended Status of the Operating System and displayed This results in an extended plausibility check on calling OS services Macros for ErrorHook The special macros are provided by OS to access the ID of the service that caused an error and it s first parameter only if it is an object ID inside ErrorHook routine e the macro OSErrorGetServiceld returns the service identifier where the error has been risen The service identifier is of type OSServiceldType Possible values are OSServiceld_xxxx where xxxx is the name of the system service if the error occured not inside a service function but in the OS dispatcher then the special value OSServiceld_NoService is returned e the macros of type lt OSError_serviceID_parameterID gt where serviceID is the name of the service and parameterID is the name of the first parameter returns the value of the first parameter 1 it is OSEKturbo extension of OSEK OS not specified in OSEK OS v 2 2 specification OSEKturbo OS MPC5xx TR 99 For More Inform
253. r SETEVENT e EVENT reference The reference specifies the event which is to be set when the message arrives The event is considered as an inseparable pair of the task and the event belonging to this task so the reference TR 138 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Objects Definition Application Modes Definition to the task which owns the events shall be also defined for this message This reference shall be defined only if the value of the ACTION attribute is SETEVENT CALLBACKNAME STRING The attribute defines the name of function to call as an action when the message arrives It shall be defined only if the value of the ACTION attribute is CALLBACK FLAGNAME STRING The attribute defines the name of the flag that is set when the message is sent It shall be defined only if the value of the ACTION attribute is FLAG Application Modes Definition It is possible to introduce different application modes inside one CPU container by means of objects named APPMODE Each APPMODE object defines a set of autostarted Tasks and Alarms for an OSEK OS application mode No standard attributes are defined for the APPMODE object At least one APPMODE object has to be defined in a CPU The syntax of an application mode object definition is as follows APPMODE lt name of mode gt OSEKturbo OS supports up to 8 application modes COM Definition The COM objec
254. r user assigned priority A distinction is made between the management of tasks with and without waiting state Extended and Basic Tasks see Task Concept The following set of priority rules has been established e interrupts have precedence over tasks e the interrupt priority is defined by specific hardware conditions e for the items handled by the OS bigger numbers refer to higher priorities e the task s priority is statically assigned by the user The Operating System provides services and ensures compliance with the set of priority rules mentioned above Conformance Classes TR 22 Various requirements of the application software for the system and various capabilities of a specific system e g processor type amount of memory demand different features of the operating system These operating system features are described as Conformance Classes CC They differ in the number of services provided their capabilities and different types of tasks The Conformance classes were created to support the following objectives e providing convenient groups of operating system features for easier understanding and discussion of the OSEK operating system e allowing partial implementations along pre defined lines These partial implementations may be certified as OSEK compliant e creating an upgrade path from the classes of less functionality to the classes of higher functionality with no changes to the application u
255. r when it switches from the current task to another It may be used by the application to trace the sequences and timing of tasks execution Interrupts category 2 and interrupts category 1 if their priority is not higher than any ISR category 2 priority are disabled in PostTaskHook PostTaskHook is not called if running task is exist and OS is aborted by ShutdownOS service See Hook Routines for general description of hook routines This hook is not called if the system configuration option POSTTASKHOOK is set to FALSE None BCC1 ECC1 StartupHook void StartupHook void None None To implement StartupHook the routine with name StartupHook shall be defined in user s code This hook is called by the operating system at the end of the operating system initialization and before the initialization of Interrupt Sources System and Second timers and before scheduler starts running At this point in time the application can initialize hardware etc Interrupts category 2 and interrupts category 1 if their priority is not higher than any ISR category 2 priority are disabled in StartupHook See Hook Routines for general description of hook routines This hook is not called if the system configuration option STARTUPHOOK is set to FALSE None OSEKturbo OS MPC5xx TR 243 For More Information www freescale com System Services Freescale Semiconductor Inc Operating System Execution Con
256. rameter can be omitted The reference can not be defined if CATEGORY value is equal to 1 ACCESSOR ENUM The attribute is used to define type of usage for the message The ISR uses the accessor for definition of references to sent or received messages MESSAGE reference The reference specifies the message to be sent or received by the task This parameter is a single reference it has to be defined ACCESSNAME STRING The attribute defines the reference which can be used by the application to access the message data This attribute has to be defined The local copy of the message shall be defined with this name in application code Resource Definition This object is intended for the resource management The resource Ceiling priority is calculated automatically on the basis of information about priorities of tasks using the resource The keyword RESOURCE is used for this object type Section Resource Management describes resource concept in OSEK The syntax of the resource object is as follows RESOURCE lt name of resource gt RESOURCEPROPERTY lt STANDARD LINKED INTERNAL gt y y LI NKE DRESOURCE lt name of RESOURCE gt e RESOURCEPROPERTY ENUM The attribute specifies a property of the resource The STANDARD value corresponds to a normal resource which is not linked to another resource and is not an internal resource The LINKED value corresponds to a resource li
257. rd mpc565 msmak directory for additional information DEC based System Second Timer The ISRPRIORITY attribute specifies the periodic interrupt request level This attribute shall have the 48 value if the InterruptDispatcher value is Enhanced TR 174 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 15 Application Troubleshooting In this chapter some advice is given which may be useful for developers working with the OSEK Operating System This chapter consists of the following sections e System Generation e Stack Errors e Unregistered External Interrupts e Known Problems System Generation The System Generator is used to generate the code for the OSEK Operating System kernel and all application objects tasks messages etc This tool processed the configuration file created by the user and reports about inconsistencies and errors in it Most of possible mistakes in application configuration process can be eliminated with the help of SG See System Configuration and Building of Application about system generation process If an undocumented problem arises please provide us with the detailed description of it and we will help to resolve the problem See Technical Support Information for contact information Stack Errors Stack errors may be due to the stack pointer being incorrect or to stack content being corrupted Stack content pr
258. re than one reference to the same type of object Values must be defined for all standard attributes of all objects except for multiple attributes which can be empty All statements must be written without errors It is recommended to avoid conflicting statements e g the STACKSIZE is defined and no EVENT s is defined for a task since it leads to error or warning messages TR 112 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 12 System Objects Definition General This chapter describes objects that are controlled by the Operating System tasks resources alarms messages counters ISRs and even the OS itself are considered as system objects This chapter consists of the following sections General e OS Definition e Task Definition e ISR Definition e Resource Definition e Event Definition e Counter Definition e Alarm Definition e Message Definition e Application Modes Definition e COM Definition e NM Definition e OSEKturbo Performance Dependency All objects that are controlled by the Operating System tasks resources alarms messages counters ISRs and even the OS itself are considered as system objects Each of them has its unique characteristics defined by the user To specify parameters for each system object the special statements are used for each object All statements are described below in detail Each group of at
259. ree to assign one source exactly to one counter 1 1 relationship several sources to one counter n 1 relationship or one source to several counters 1 n relationship see Figure 7 1 Meaning that it is possible to advance the same counter in different software routines The alarm management is built on top of the counter management The alarm management allows the user to link task activation or event setting or a call to callback function to a certain counter value These alarms can be defined as either single one shoot or cyclic alarms The OSEK OS allows the user to set alarms relative or absolute cancel alarms and read information out of alarms by means of system services Alarm is referenced via its symbolic name which is assigned to the alarm statically at the configuration stage Examples of possible alarm usage are Activate a certain task after the counter has been advanced 60 times or Set a certain event after the counter has reached a value of 90 The counter addressed in the first example might be derived from a timer which is advanced every second The task in the example is then activated every minute The counter addressed in the second example might be derived from a rotating axle The event is set on a 90 degree angle OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Counters and Alarms Alarms The OSEK OS takes care of the necessary ac
260. rements This chapter consists of the following sections e Application Structure e Action Sequence to Build an Application e Sample Application Application Structure An application developed on the OSEK Operating System basis has a defined structure An application consists of the Operating System kernel and several user s tasks and ISRs which interact with the kernel by means of system services and internal mechanisms ISRs receive control from hardware interrupt sources via the vector table Tasks are controlled by the scheduler They may use all means for intertask communications granted by OSEK OS to pass data and synchronize each other Tasks and ISRs are considered as system objects Resources messages counters and alarms are also considered as system objects because they are controlled by the Operating System An application typically also has configuration tables for different system objects task stacks and other entities To create an application the user should develop the desired application structure with all necessary objects and define interactions between them All global Operating System properties system objects and their parameters are defined by the user statically and cannot be redefined at run time Special application configuration file is designed to perform such definition and the special tool that processes this file See System Configuration After processing files with system obje
261. ribute shall have one of the following values 0 2 4 6 8 10 12 14 Value 0 accords to interrupt request level 7 value 14 accords to interrupt request level 0 For more detail information about the ISRPRIORITY values and Interrupt levels see External Interrupts Processing Background The Prescaler Value attribute specifies the value of RTC and PIT clock divider and input source select RTDIV bit of the System Clock Control Register SCCR and Real time clock freeze 4M bit of the Real Time Clock Status and Control Register RTCSC This attribute may have following values e 0 bothbits are cleared It means that RTC and PIT clock divided by four and RTC assumes that it is driven by 20 MHz to generate the seconds pulse e 1 the RTCSC 4M bit is cleared SCCR RTDIV bit is set It means that RTC and PIT clock divided by 256 and RTC assumes that it is driven by 20 MHz e 2 the RTCSC 4M bit is set SCCR RTDIV bit is cleared It means that RTC and PIT clock divided by four and RTC assumes that it is driven by 4 MHz e 3 both bits are set It means that RTC and PIT clock divided by 256 and RTC assumes that it is driven by 4 MHZ to generate the seconds pulse The TimerModuloValue attribute provides value of Real Time Clock Alarm Register RTCAL and is used to determine periodic interrupt rate The Freeze attribute specifies timer freeze bit RTF value of the Real Time Clock Status and Control Register RTCSCR If this a
262. rm TimeAlm 20 0 activate TaskX when TimeCnt reaches GetAlarm TimeAlm amp ticksToExpire just for example TimeAlm will expire after ticksToExpire ticks of TimeCnt if more than desired value terminate the task 1f curTime gt CONST TerminateTask TASK Task_B OSMSGNorm _Norm EventMaskType evMask evMask DgrAlmEvent init degree counter with 0 value InitCounter DgrCnt 0 SetAbsAlarm DgrAlm 75 15 set cyclic alarm WaitEvent evMask wait for event which must be set by the alarm _Norm 1 wake up and send the message that all is OK SendMesssage Norm _Norm TerminateTask ISR Timer_Isr reset the hardware increment the counter and process alarms attached to the counter CounterTrigger TimeCnt ISR Dgr_Isr OSEKturbo OS MPC5xx TR 225 For More Information www freescale com Freescale Semiconductor Inc System Services Communication Management Services reset the hardware increment the counter and process alarms attached to the counter CounterTrigger DgrCnt Communication Management Services Data Types and Identifiers The following names are used in the OSEK Operating System for work with messages e SymbolicName an unique name representing a message It only can be used in conjunction w
263. roubleshooting 175 System Generation urna aoa a LE rt 175 Stack BROS y T sae aR e Ack ie A ei me BYR ae 175 Unregistered External Interrupts 2 a a ee eee 176 Known Problems a S03 ae te A A GG A 176 Troubleshooting mice AE BS greta ti ai 176 16 System Services 179 Generale E S oS caras amp BE aoe Lieto 179 Task Management Services 2 5 os be Ge ee e als 180 Pata Types s wy Pas ta Me ie de Bl de Sy an ANA BIB A 180 Constants ag alata db ds Sok a oleh oe So Gog Aes 181 CONVEMEONS atte p Marve cm el A e Mr a a RS Dl ee 181 Task Declaration e en Spy ke Ge OR Ho He Bnd ake oh ot 182 Activatelask da e rice ea ee BOR SRS A ele N 182 Terminatelasis sione deg aurea da See aa A 183 Chainlask sata la A a A A as aS 183 Schedul s amp a lt q Azel amp dea dan eh del i 184 Getloskld pesano a eli e ina al a e 185 TR 8 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Contents GerTaskotate sl are do ie Gate cdo ce i ee Gee car de oh 186 Examples for Task Management Services 2 2 0 187 ISR Management Services 4 gt 4 4 do dl BR a a 189 Data DOS a ms te de de de wig ae A SA e 189 Conventions aux g 5A AN AR RA ees E 189 ISR Declaration sg 4 4 Saro dh GR Be A 190 Enable Allnterrupts 0 a a el ede FL Na 190 DisableAll nterrupts us da AAA 191 ResumeAll nterrupts 6 9 3 4 a RA A A A 191 SuspendAll nterrupts dt ne
264. run only to output versions of all its components So all other options are ignored Option lt option gt has been redefined effective value is lt value gt Warning Only one value can be used for the following options c h n 0 p Being defined twice their last value will be used as SysGen argument Option lt option gt requires argument Error The following options should be defined with an argument c f h i N 0 p S Option lt option gt does not accept arguments Error The following options should not be defined with an argument b t v OSEKturbo OS MPC5xx TR 289 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 290 SG0005 SG0006 SG0007 SG0008 SG0009 SG0010 SG0201 Unexpected token lt token gt Error An unrecognizable token was found in the input stream The SysGen option or OIL file name is expected Closing quotation mark is expected Fatal Error The quotation mark is missed The command line contains odd number of quotes Cannot open command argument file Fatal Error The command argument file cannot be open if it does not exist or you do not have permission to open the file or directory Cyclic reference in the command argument file Fatal Error The command file contains f option that has a reference to the same file as an argument Also some command files can have nu
265. rupts ResumeOSInterrupts pairs are allowed within this critical section Particularities The service may be called from an ISR and from the task level but not from hook routines In case of nesting pairs of the calls SuspendOSInterrupts and ResumeOSInterrupts the interrupt status saved by the first call of SuspendOSInterrupts is restored by the last call of the ResumeOSInterrupts service If ResumeOSInterrupts service was not called after this service and before point of rescheduling then OSEKturbo dispatcher calls ErrorHook if it is defined with parametr E_OS_SYS_ORDER If no ISRs of category 2 are defined then this service does nothing Status e Standard None e Extended None Conformance BCC1 ECC1 Examples for Interrupt Management Services Below examples for ISR category 1 and 2 are presented The following definitions can be made in the definition file OS myOS IsrStackSize 256 MessageCopyAllocation OS TASK TaskB PRIORITY 2 SCHEDULE FULL this is OSEKturbo extension of OSEK OS OSEKturbo OS MPC5xx TR 195 For More Information www freescale com Freescale Semiconductor Inc System Services ISR Management Services AUTOSTART ACTIVATIO STACKSIZE FALSE N 1 256 EVENT E TASK IndTas PRIORITY SCHEDULE ventTaskB EN 1 FULL AUTOSTART ACTIVATIO COUNTER Ctr
266. s ACTION SETEVENT cannot be defined in lt class gt class Error The event setting task notification method cannot be used in Basic conformance classes Name or ACCESSNAME shall be C identifier Error Only C identifier can be used in the Name or ACCESSNAME attributes names Identifier is longer than 32 It can cause compilation problem Warning If object identifier is longer than 32 characters the result of compilation depends of compiler used Make identifier shorter if you got error during compilation of configuration or application source files MAXALLOWEDVALUE of hardware counter is assumed to be lt number gt It will be changed Warning Hardware counter has hardware defined maximal value for counter so it cannot differ from assumed value Counter information available via API will be changed to assumed value MESSAGE is declared but never used Warning This message is generated when the MESSAGE object is declared but TASK or ISR objects don t declare accessors to this MESSAGE OSEKturbo OS MPC5xx For More Information www freescale com TD0111 TD0112 TD0113 TD0115 TD0116 TD0117 TD0118 Freescale Semiconductor Inc System Generation Error Messages List of Messages Accessor name lt name gt is not unique Error The ACCESSNAME attributes should have the different values Step ordering number lt number gt is not unique Error Two or more StepNumbers share the same number
267. s For all counters the following constants are defined OSMAXALLOWEDVALUE_cname Maximum possible allowed value of counter lt cname gt in ticks OSTICKSPERBASE_cname Number of ticks required to reach a specific unit of counter lt cname gt OSMINCYCLE_cname Minimum allowed number of ticks for a cyclic alarm of counter lt cname gt This constant is not defined in STANDARD status For the counters attached to SysTimer and SecondTimer special constants are provided by the operating system OSMAXALLOWEDVALUE maximum possible allowed value of the system timer in ticks OSMAXALLOWEDVALUE2 maximum possible allowed value of the second timer in ticks OSTICKSPERBASE number of ticks that are required to reach a counter specific value in the system counter OSTICKSPERBASE2 number of ticks that are required to reach a counter specific value in the second counter OSTICKDURATION duration of a tick of the system counter in nanoseconds OSTICKDURATION2 duration of a tick of the second counter in nanoseconds OSMINCYCLE minimum allowed number of ticks for a cyclic alarm attached to the system counter only for system with Extended Status OSMINCYCLE2 minimum allowed number of ticks for a cyclic alarm attached to the second counter only for system with Extended Status NOTE OSMAXALLOWEDVALUE2 OSTICKSPERBASE2 OSTICKDURATION2 and OSMINCYCLE2 constants are not TR 76 OSEKturbo OS MPC5xx For More Information www freesca
268. s The Extended Tasks have four task states e running In running state the CPU is assigned to the task so that its instructions can be executed Only one task can be in this state at the same point in time while all the other states can be adopted simultaneously by several tasks e ready All functional prerequisites for transition into running state are met and the task only waits for allocation of the processor The scheduler decides which of ready tasks is executed next e waiting A task cannot be executed any longer because it has to wait for at least one event see Events e suspended In suspended state the task is passive and does not occupy any resources merely ROM TR 30 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Task Management Task Concept Figure 3 1 Status Model with Task Transitions for an Extended Task running preempt suspended Table 3 1 States and Status Transitions for an Extended Task Former Transition state New state Description activate suspended ready A new task is entered into the ready list by a system service start ready running A ready task selected by the scheduler is executed wait running waiting To be able to continue an operation the running task requires an event It causes its transition into waiting state by using a system service release waiting ready Events have occurred which
269. s cycles Hs cycles Hs cycles Hs ChainTask Initial Task 40 12 0 3 44 1 1 12 0 3 terminated next task started Internal Task 108 2 7 80 2 68 1 7 40 1 resource terminated defined next task started SCHEDULE Task 40 12 0 3 44 1 1 12 0 3 NON terminated for all tasks next task started Schedule Initial No 32 0 8 4 0 1 32 0 8 8 0 2 rescheduling all tasks are preemptable Internal No 88 2 2 72 1 8 64 1 6 36 0 9 resource rescheduling defined all tasks are preemptable SCHEDULE No 28 0 7 8 0 2 28 0 7 8 0 2 NON rescheduling for all tasks Rescheduling 56 1 4 28 0 7 56 1 4 28 0 7 other task becomes running GetTaskld Initial 4 0 1 0 0 8 0 2 0 0 GetTaskState Initial For running 24 0 6 8 0 2 40 1 8 0 2 task For ready task 40 24 0 6 56 1 4 20 0 5 For suspended 36 0 9 24 0 6 48 1 2 20 0 5 task TR 270 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Service Timing Data Sheet Table B 1 Run time Services Timing Characteristics CodeWarrior Diab CC Configuration Conditions Timing Latency Timing Latency cycles Hs cycles Hs cycles Hs cycles Hs EnableAlllnterrupts Initial 4 0 1 4 0 1 DisableAlllnterrupts Initial 4 0 1 4 0 1 ResumeAllInterrupts Initial 24 0 6 28 0 7 SuspendAllInterrupts Initial 20 0 5 24 0 6 ResumeOSinterrupts Initial 28 0 7 28 0 7 Susp
270. s for the counter attached to the timer In the system definition statement for the system second timer the user should define one of possible hardware interrupt sources Parameters to tune the hardware can be also defined by the user in this statement This possibility allows the user to exactly tune the 4 system see PowerPC Platform Specific Features for details While hardware related parameters are defined the code to initialize the system second timer hardware and the interrupt handler are automatically provided for the user as a part of OSEK OS The handler is an ISR category 2 but it is not needed to define the ISR in OIL file In that case the user does not have to care about handling of this interrupt and he she can not change the provided code OSEKturbo OS MPC5xx TR 67 For More Information www freescale com Freescale Semiconductor Inc Counters and Alarms Alarms NOTE Alarms TR 68 Software Counters may be triggered from user defined ISR s Hardware interrupts which are used to trigger counters have to be handled in usual manner To perform any actions with the counter the application software processing the occasion should call the CounterTrigger system service It is not allowed to use CounterTrigger in ISR category 1 see section ISR Categories CounterTrigger service is not defined starting from OSEK OS v 2 0 specifications it is defined in the OSEK OS v 1 0 specification The user is f
271. s information on how to build a user s application using the OSEK OS It also describes memory requirements PowerPC Platform Specific Features chapter discusses special OSEK OS features for different MCU types and issues connected with porting applications to these MCUs Application Troubleshooting chapter contains useful information for debugging applications developed using the OSEK OS System Services chapter provides a detailed description for all OSEK Operating System run time services with appropriate examples Debugging Application chapter provides information about preparation of all data required for the OSEK aware debugger to display information about an application in OSEK terms Sample Application appendix contains the text and listing of a sample customer application developed using the OSEK OS System Service Timing appendix provides information about OS services execution time Memory Requirements appendix provides information about the amount of ROM and RAM directly used by various versions of the OSEK OS OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Introduction OSEK OS Overview System Generation Error Messages appendix explains OSEK OS System Generator error messages The Introduction chapter consists of the following sections e OSEK OS Overview e Typographical Conventions e
272. s not to be used in the OIL file The symbol code is presented Cyclic include reference Information Cyclic include references are not allowed Object lt type gt is not standard Warning Nonstandard object types have not to be defined in the implementation definition Unknown object in implementation part Error The object defined in OIL file absents in the corresponding implementation definition file Unknown attribute in implementation part Error The attribute defined in OIL file absents in the corresponding implementation definition file OSEKturbo OS MPC5xx TR 301 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TR 302 OR5013 OR5014 OR5017 OR5018 ORS019 OR5020 OR5021 Type of attribute is invalid Error The attribute type defined in OIL file does not correspond to the registered implementation definition file Type of reference is invalid Error The attribute type defined in OIL file does not correspond to the registered implementation definition file Single value lt name gt attribute is declared as multiple value Error The attribute defined in OIL file as multiple has single value in the registered implementation definition file Multiple value lt name gt attribute is declared as single value Error The attribute defined in OIL file as single has multiple value in the registered
273. s set to OS its Value is written to the prescaler bits of the correspondent timer Note that the Prescaler Value attribute value is not equal to divide factor of timer hardware The following statement should be used for system timer definition OS lt name gt SysTimer lt SWCOUNTER HWCOUNTER gt COUNTER lt CounterName gt SRPRIORITY lt Priority gt TimerHardware lt HardwareType gt Prescaler lt PrescalerMode gt Value lt HardwarePrescaler gt y TimerModuloValue lt HardwareModulo gt Freeze lt TRUE FALSE gt RISEL lt OSCM EXTCLK gt This OSEK OS version contains system timer code developed for MPC555 56x target The following hardware sources can be used for System and or Second Timers OSEKturbo OS MPC5xx TR 167 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features PIT Periodic Interrupt Timer DEC Decrementer Counter RTC Real Time Counter TBO TB1 Time Base Reference registers 0 1 used only for hardware counters PIT based System Second Timer The ISRPRIORITY attribute specifies the periodic interrupt request level This attribute shall have one of the following values 0 2 4 6 8 10 12 14 Value 0 accords to interrupt request level 7 value 14 accords to interrupt request level 0 For more detail information about the ISRPRIORITY values and Interrupt levels see
274. sages Generally Sample tasks are divided into two parts TASKSNDI TASKSND2 and TASKCNT compose the first part samplets c file and TASKRCV1 TASKRCV2 and TASKSTOP are the second part samplepc c file These two parts interact with the help of the messages and alarm mechanism The Extended task TASKRCVI is activated by OS autostarted It performs the following initializations e init TSCOUNTER counter with value 0 e set absolute STOPALARM alarm to value 20 when STOPALARM expired it activates STOPTASK task OSEKturbo OS MPC5xx TR 261 For More Information www freescale com Freescale Semiconductor Inc Sample Application Description e starts TimeScale e clears MSGAEVENT and TIMLIMITEVENT events e set relative TIMLIMITALARM alarm to value 20 when TIMLIMITALARM expired it sets TIMLIMITEVENT event for this TASKRCV1 task Then it enters waiting state waiting MSGAEVENT and or TIMLIMITEVENT events When event occurred TASKRCV1 checks which event occurs If MSGAEVENT event occurred MsaA message arrived then TASKRCVI task e cancels TIMLIMITEVENT alarm e gets MSGAACCESS resource to prevent access to MsgA message e receives MsgA message with copy e releases MSGAACCESS resource e clears event and goes to waiting state again If TIMLIMITEVENT event occurred time limit was exceeded then TASKRCV1 task goes to the very beginning and repeats initialization restarting all application but OS is not restarted it conti
275. scale com Freescale Semiconductor Inc Debugging Application ORTI Features e event states The event states can be used to determine events which are currently set or cleared e wait events Wait events value contains bit set to one for event which task is waiting for e event masks The event masks define correspondence between event name and bit mask The following stack information is available to the user e size The size specifies the size in bytes of a memory area allocated for stack e base address The base address specifies the lowest address of stack memory area e stack direction The stack direction specifies the direction of stack growth and may have UP or DOWN as its value UP means growing from lower to higher addresses DOWN means growing from higher addressed to lower addresses e fill pattern The fill pattern attribute specifies with which pattern the stack area is initialized This allows the debugger to evaluate the maximum stack usage To provide system with information about application main stack area make the following is accomplished e for Diab complier 2 variables are defined in Diab link command file OsOrtiStart should be allocated at the same location as __SP_INIT Diab variable and _OsOrtiStackStart should be allocated at the same location as _ SP_END Diab variable In this case Diab link command file may look like the following _ _HEAP_START ADDR
276. see Include Directive can be used to define the implementation definition as a separate file Thus corresponding implementation definition files are developed and delivered with particular OSEK implementations and then included in user s OIL files The OSEKturbo OS MPC5xx implementation is described in the os22mpc oil file which are delivered in the package Implementation Definition Grammar Implementation Definition part starts with keyword IMPLEMENTATION and implementation name The structure for Implementation Definition part is shown using the following syntax OSEKturbo OS MPC5xx TR 107 For More Information www freescale com Freescale Semiconductor Inc System Configuration OIL Concept OS APPMO COM NM TR 108 DE MPLEMENTATION lt name gt lt object_descriptions gt All objects within Implementation Definition part are described using the same syntax lt object_type gt lt property_definitions gt y Object type is defined by the object keyword For OSEKturbo OS MPC5xx implementation the following object types are implemented TASK ISR RESOURCE EVENT COUNTER ALARM MESSAGE The set of object properties are to be defined within the object description Both implementation specific attribute and reference shall be defined before it is used The attribute definition has the following structure lt attr_type gt WITH_AUTO lt
277. sented as a reference type keyword assigned with a name of the object referenced If multiple reference pointed to the set of objects several references shall be used Here is example for task referencing to own events EVENT MyEventl EVENT MyEvent2 TR 110 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Configuration OIL Concept Include Directive The preprocessing directive to include other OIL files is allowed in any place of the OIL file This statement has the same syntax as in ANSI C include lt filename oil gt include path filename oil The file name can be optionally preceded by a directory specification The quoted form means that a header file is being looked for in the current directory first then along the path specified by the I command line option then along paths specified by the special environment variable The angle bracket form means that a header file is being looked for first along the path specified by the I command line option then along paths specified by the special environment variable Comments An OIL file may contain comments The and characters define the start of a comment Any characters after are considered as a comment and the end of line EOL terminates the comment Any characters after are considered as comments and the end of the comment is defined by Nested comments are no
278. ser to decide what to do depending on which error has occurred According to OSEK OS specification if system service is called from ErrorHook user s hook and this service does not return E_OK error code then ErrorHook is not called Therefore nested ErrorHook calls are blocked by OSEK OS The OSEKturbo OS specifies the following error codes Table 10 2 OSEK OS Error Codes Name Value Type E_OK 0 No error successful completion E OS ACCESS 1 Access to the service object denied E OS CALLEVEL 2 Access to the service from the ISR is not permitted E OS ID 3 The object ID is invalid E OS LIMIT 4 The limit of services objects exceeded E_OS_NOFUNC 5 The object is not used the service is rejected E OS RESOURCE 6 The task still occupies the resource E OS_STATE 7 The state of the object is not correct for the required service E OS VALUE 8 A value outside of the admissible limit TR 98 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Error Handling and Special Routines Error Handling Table 10 2 OSEK OS Error Codes Name Value Type E OS _SYS STACK 17 Task stack overflow E OS SYS ORDER 18 Incorrect order of function calling E_OS_SYS_MAINSTACK 19 Main stack overflow E OS SYS _ISRSTACK 20 ISR stack overflow E COM_BUSY 33 Message is in use by application task function E_COM_ID 35 Invalid message name passed as paramete
279. sing OSEK related features The required Conformance Class is selected by the user at the system generation time and cannot be changed during execution Definition of the functionalities provided by each Conformance Class depends on the properties of the tasks and the scheduling OSEKturbo OS MPC5xx For More Information www freescale com Figure 2 1 Freescale Semiconductor Inc Operating System Architecture Conformance Classes behavior As the task properties Basic or Extended see Task Concept have a distinct influence on CC they also assume part of their names There are Basic CC and Extended CC and each of these groups can have various derivatives The Conformance classes are determined by the following attributes e Multiply requesting of task activation not supported by the OSEKturbo e Task types see Task Concept e Number of tasks per priority Restricted Upward Compatibility for Conformance Classes BT only BT and ET 1 task priority no multiply activations BCC1 m ECCI Y Y gt 1 task priority BCC2 gt ECC2 multiply activations for basic tasks only The OSEK OS specification defines the following Conformance Classes BCC1 BCC2 ECC1 ECC2 The OSEKturbo does not support multiply activation and therefore it doesn t have BCC2 and ECC2 classes The OSEKturbo OS supports the following Conformance Classes e BCC1 only Basic
280. source The purpose of the ISR stack is to save memory Since interrupts can occur while any task is executed and can be nested it means that every task stack must be big enough to store several interrupt stack frames in addition to task and ISR s needs for local variables OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Interrupt Processing Interrupt Dispatcher function calls etc To avoid this overhead the separate ISR stack is used in the OSEKturbo OS Switching to this stack is performed by the OS at the beginning of ISR category 2 This stack is used only by ISRs of category 2 If nested interrupts occur after the stack has been switched they will continue to use this stack After completion of ISR category 2 OS switches back from ISR stack If BCC1 class ISRs use common single stack The interrupt stack frame usually consists of the CPU registers and optionally some compiler dependent virtual registers The CPU registers are pushed onto the stack under hardware or software control In the latter case the compiler generates a stack frame by means of adding special sequences of machine instructions before the first statement in the function Most compilers use function modifiers like interrupt to generate stack frames In turn the ISR keyword specified in OSEK see Conventions is a macro for this modifier Interrupt Dispatcher OSEKturbo OS MPC5xx
281. ssage gt symbolic name of the message object None The service GetMessageStatus return the current status of the message object lt Message gt If this service call fails it return an implementation specific error code that shall be distinguishable from all other return values None OSEKturbo OS MPC5xx For More Information www freescale com Status Conformance Syntax Input Output Description Particularities Status Conformance Syntax Input Output Freescale Semiconductor Inc System Services Communication Management Services e Standard E_COM_LOCKED the message is locked E_COM_BUSY the message is currently set to BUSY E_COM_NOMSG the FIFO of the queued message identified by lt Message gt is empty E_COM_LIMIT an overflow of the FIFO of the queued message identified by lt Message gt occurred E_OK none of the above conditions is applicable and no indication of error is present e Extended E_COM ID the lt Message gt parameter is invalid BCC1 ECC1 StartCOM StatusType StartCOM void None None This service calls message initialization routines This routine performs the initialization of the application specific message objects by calling the Messagelnit function provided by the application programmer StartCOM is called from within a task E_OK the initialization completed successfully The service returns an implementa
282. t Hardware interrupt levels and interrupt flags are used by resources which can be occupied in the ISR When such a resource is occupied by a task or ISR the interrupts of the corresponding priority are disabled and the OSEK OS scheduler is switched off Therefore the running task can not be switched to ready state while such a resource is occupied Releasing the resource causes enabling interrupts of the corresponding level and switching on the OSEK OS scheduler The example shown in Figure 6 1 illustrates the mechanism of the Priority Ceiling Protocol Figure 6 1 Priority Ceiling Protocol Ceiling release release priority resource resource i pe running _ j running J i _ j J i J i y Task 1 suspended ready running F J running suspended Task 2 suspended Z ready running suspended Task 3 f E keady running suspended Task 4 running _ ready running request resource request resource In the figure above Task 1 has the highest priority and Task 4 has the lowest priority The resource has a priority greater than or equal to the Task 1 priority When Task 4 occupies the resource it gets a priority not less than the Task 1 has therefore it cannot be preempted by ready Task 1 until it releases the resource As soon as TR 60 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Resource Management I
283. t call to ReceiveMessage for that particular lt Message gt TR 228 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services Communication Management Services E_OS_CALLEVEL call at ISR level for queued message or with lt Data gt configured WithOutCopy this status is OSEKturbo extension of OSEK OS e Extended E_COM_ID invalid parameter lt Message gt or receiving message other than unqueued one in WithCopy configuration from ISR level Conformance BCC1 ECC1 GetMessageResource Syntax StatusType GetMessageResource SymbolicName lt Message gt Input lt Message gt symbolic name of the message object Output None Description The service GetMessageResource set the message object lt Message gt status as busy Particularities Itis recommended that corresponding calls to Get and ReleaseMessageResource should appear within the same function on the same function level Before terminating the task or entering the wait state the corresponding service ReleaseMessageResource shall be called by the application layer This service can only be used to support the transfer of a message identified by lt Message gt whose copy configuration is WithoutCopy Status e Standard E_OK the message has been set to BUSY successfully E_COM_LOCKED the message is locked E_COM_BUSY the message is already set to BUSY E_OS_NOFUNC the message is
284. t allowed in OIL File Structure Any file in the Standard OIL format describes an application for a single CPU and in general must have the following structure OIL _ VERSION lt version gt MPLEMENTATION lt name gt Implementation definition lt OBJECT_TYPE gt list of implementation specific object attributes CPU lt name gt Definition of the application on CPU lt OBJECT_TYPE gt lt object_name gt System object definition OSEKturbo OS MPC5xx TR 111 For More Information www freescale com System Configuration OIL Concept lt ATTRIBUTE gt lt REFERENCE gt Freescale Semiconductor Inc lt value gt lt object_name gt list of object attributes and references list of objects Configuration File Rules The application configuration files must conform some simple rules to be successfully processed The rules are All objects are described using the OIL syntax Each object must have a unique name Each object may be divided into several parts All object names are accessible from the application An attribute defines some object properties for example the task priority Attributes that take a single value may only be specified once per object Attributes that take a list of values must be specified as multiple statements An object can have a set of references to other system objects Per object there may be mo
285. t represents OSEK communication subsystem properties on CPU Only one COM object must be defined on the local CPU The syntax scheme of COM object is as follows COM lt name of COM gt USEMESSAGERESOURCE lt TRUE FALSE gt USEMESSAGESTATUS lt TRUE FALSE gt OSEKturbo OS MPC5xx TR 139 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition NM Definition Attributes The object has the following standard attributes e USEMESSAGERESOURCE BOOLEAN The attribute specifies if the message resource mechanism is used e USEMESSAGESTATUS BOOLEAN The attribute specifies if the message status is available NM Definition The NM object represents the local parameters of the network management subsystem on CPU No attributes are defined for the NM objects OSEKturbo Performance Dependency The following attributes of OS object directly affect OS performance e STATUS if this attribute is set to EXTENDED then the system performance is decreased because OS spends additional time for checking See System Services for more detailed services description StackOverflowCheck if this attribute is TRUE then the stack overflow conditions are checked when each rescheduling occurs and in each ISR thus significantly decreasing OS performance DEBUG_LEVEL if this attribute is not equal 0 then StackOverflowCheck is implicitly turned on Additional r
286. ta e aldo WP A o AE 2 192 ResumeOSlInterrupts de e Ge Se ee ao So amp 193 SuspendOSInterrupts s 5 a IA 194 Examples for Interrupt Management Services 195 Resource Management Services o a a a 197 Data Types a lata DR a RA AA A 197 CONSTA ae die mo ae Bek ae AA ho ae BA E A he re 197 Resource Declaration a ee oe A dia HH 197 GetResource gt LL 4 id ae RE we Re ERA EEE DS 198 ReleaseResource ado wee BO i a 199 Examples of Using Resources 2 2 2 2 en 200 Event Management Services a a a a a a 202 Data PES sa meti doi denh BY ae aces o lar E el o YE de 202 Event Declaration Ar x a Be eee ae oR Ow bk Oe me 202 SELENE si so ge PRE 203 ClearEvent ila Volo E Rae i meta 204 GEtEveneg seus dle A de Bode ei io Bags e a Me a 204 WaitEyent a a A lee e RL td 205 Examples of Using Events a e dali ato Se e e 4 206 Counter Management Services 2 1 ee es 209 Data Types and Identifiers gt ipo eG Se Gael 4 209 Constants 030 do Bech a ee e he AY ec Bead che Br iG 210 Counter Declaration cK E AA oe dee e a 211 MitCountet s mas am ia cot CA ee a A a ei 212 Eume ser suc ay le IE ao Ry NIE Ho ees ay Se nS 212 GetCounter Vale lt a car w A Se oA Bice 213 GetCounterInfo 2 2 a a a a 214 Examples for Counter Management 215 OSEKturbo OS MPC5xx TR 9 For More Information www freescale com Contents TR 10 Freescale Semicondu
287. tasks limited to one activation request per task and one task per priority and all tasks have different priorities e ECC1 like BCC1 plus Extended tasks OSEKturbo OS MPC5xx TR 23 For More Information www freescale com Freescale Semiconductor Inc Operating System Architecture Conformance Classes Table 2 1 indicates the minimum resources to which an application may resort determined for each Conformance Class in the OSEK OS Table 2 1 OSEK OS Conformance Classes BCC1 BCC2 ECC1 ECC2 Multiple activation of no yes BT no BT yes tasks ET no ET no Number of tasks which gt 8 gt 16 any combination are not in suspended of BT ET state Number of tasks per 1 gt I 1 gt I priority both BT both BT ET ET Number of events per BT no task ET gt 8 Number of task priorities gt 8 gt 16 Resources onl gt 8 resources including Scheduler Scheduler Internal Resources gt 2 Alarm gt 1 single or cyclic alarm Messages possible The system configuration option CC specified by the user defines the class of the overall system In the OSEKturbo OS this option can have the values BCC1 and ECCI or it can be set to AUTO see OS Definition Maximal numbers of the OSEKturbo OS MPC5xx system objects are indicated in Table 2 2 Table 2 2 OSEKturbo OS MPC5xx Maximal System Resources Number of task s priorities 64 Number of tasks which
288. tate check the state of Taskc switch state and perform appropriate actions case READY break case WAITING SetEvent TaskC EventTaskC break case SUSPENDED ChainTask TaskC break TR 188 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc System Services ISR Management Services an any user code TerminateTask TASK TaskC TaskStateType stateA stateB any user code while 1 WaitEvent EventTaskC GetTaskState TaskA amp stateA GetTaskState TaskB amp stateB 1f stateA READY amp amp stateB SUSPENDED ChainTask TaskB if stateB READY amp amp stateA SUSPENDED ChainTask TaskA 1f stateA READY amp amp stateB READY Schedule yield CPU to a higher priority task any user code ISR Management Services Data Types No special data types are defined for the OSEK interrupt handling functionality Conventions Within the application an Interrupt Service Routine should be defined according to the following pattern ISR lt name of ISR gt OSEKturbo OS MPC5xx TR 189 For More Information www freescale com Freescale Semiconductor Inc System Services ISR Management Services The keyword ISR is the macro for OS and compiler specific interrupt fu
289. ted interrupts Xansi O XO DOSINTMEMBASE lt intmembase gt Where lt FPsupport gt is H hardware S software N none lt intmembase gt is the base address of the internal memory If lt FPsupport gt is set to H hardware then OS configuration option FloatingPoint shall be set to TRUE NOTE In some complicated cases D CC generates a wrong code due to the optimization error If this is a case the option Xkill opt 0x00010000 global common subexpression elimination should be added into the command line TR 154 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features Compiler Specific Features Please see D CC compiler User s Manual for details on compiler options Options for D CC Assembler The following compiler options should be used for D CC assembler tPPC555E lt FPsupport gt Where lt FPsupport gt is H hardware S software N none If it is set to H hardware then the OS configuration option FloatingPoint shall be set to TRUE Options for Metrowerks Software Options for Metrowerks C C Compiler for Embedded PowerPC The following Metrowerks C C compiler options should be used for compiling all OSEK OS C source modules c fp lt FPsupport gt proc 555 ansi off opt all Cpp_exceptions Ot DOS NTMEMBASE lt intmembase gt Where lt FPsupport gt is hard hardware soft software
290. the HCLowPower is set to TRUE the system enters Doze high mode in idle loop when there is no running task The user is able to implement own low power mode logic in the framework of IdleLoopHook If this is a case it is recommended to set HCLowPower to FALSE see Hook Routines Related Attributes MSR Bits Manipulation The user should not manipulate with MSR general purpose bits like FP ME FEO FE1 IP during run time If it is necessary to set MSR ME bit for example then it should be set before OS start up Implementation Background OSEK OS task context contains all information needed to provide both ordinary task scheduling and scheduling after ISR Using Floating Point OSEKturbo OS does not save restore floating point registers during system startup shutdown By default OS does not save restore floating point registers during context switch Therefore if it is necessary to perform floating point calculations inside OSEKturbo OS application FloatingPoint option should be used OSEKturbo OS MPC5xx For More Information www freescale com WARNING NOTE Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features It is not allowed to perform floating point calculations inside ISR handlers The following statements should be used to configure floating point support in OSEK OS OS lt name gt FloatingPoint lt TRUE FALSE gt y The FloatingPoint configuration op
291. the SuspendAllInterrupts service which must have been called before and its aim is the completion of the critical section of code No API service calls beside SuspendAllInterrupts ResumeAllInterrupts pairs and SuspendOSInterrupts ResumeOSInterrupts pairs are allowed within this critical section SuspendAllInterrupts ResumeAllInterrupts can be nested In case of nesting pairs of the calls SuspendAllInterrupts and ResumeAllInterrupts the interrupt recognition status saved by the first call of SuspendAllInterrupts is restored by the last call of the ResumeAllInterrupts service If ErrorHook is defined and STATUS is set to EXTENDED this service calls ErrorHook with E_OS_SYS_ORDER status in case of a wrong sequence of interrupt management functions calls This check is limited to 32 levels of nesting pairs of Suspend Resume functions Status e Standard None e Extended None Conformance BCC1 ECC1 SuspendaAllinterrupts Syntax void SuspendAllInterrupts void Input None this is OSEKturbo extension of OSEK OS TR 192 OSEKturbo OS MPC5xx For More Information www freescale com Output Description Particularities Status Conformance Syntax Input Output Description Freescale Semiconductor Inc System Services ISR Management Services None This service saves the recognition status of all interrupts and disables all interrupts for which the hardware supports disabling
292. the way of the external interrupts processing It can have one of the following values None the interrupt dispatcher is not supported In this case user have to care about the external interrupt processing OneLevel the interrupt dispatcher is supported but multilevel external interrupt emulation is not supported In this case all external interrupts will be disabled during the interrupt processing MultiLevel the interrupt dispatcher and multilevel external interrupt emulation are supported In this case interrupt processing can be interrupted by the other interrupt of the higher level The level of ISR is specified by its PRIORITY Enhanced the interrupt dispatcher is supported for Enhanced Interrupt Controller for MPC565 563 561 The level of ISR is specified by its PRIORITY OSEKturbo OS MPC5xx TR 123 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OS Definition TR 124 Hook Routines Related Attributes These attributes define hook routines support in the system The attributes should be defined inside the scope of the OS object in accordance with the following syntax default attribute value are shown in bold type STARTUPHOOK lt TRUE FALSE gt SHUTDOWNHOOK lt TRUE FALSE gt PRETASKHOOK lt TRUE FALSE gt POSTTASKHOOK lt TRUE FALSE gt ERRORHOOK lt TRUE FALSE gt USEGETSERVICEID lt TRUE FALS
293. this rule please see Enhanced Interrupt Controller ISRs can communicate with tasks in the OSEK OS by the following means e ISR can activate a task e ISR can send receive an unqueued messages in WithCopy configuration e ISR can trigger a counter e ISR can get Task ID e ISR can get state of the task e ISR can set event for a task e ISR can get event mask of the task e ISR can manipulate alarms Interrupts cannot use any OS services except those which are specially allowed to be used within ISRs When using other services the system behavior will be unpredictable In the Extended debugging status of the Operating System the error will be reported in such a case See Table 5 1 on page 52 and System Services for details ISR Categories TR 48 In the OSEK Operating System two types of Interrupt Service Routines are considered ISR Category 1 ISRs of these type are executed on the current stack In this case if the ISR uses the stack space for its execution the user is responsible for the appropriate stack size Only 6 Interrupt Management OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Interrupt Processing ISR Categories services enabling disabling interrupts are allowed in ISRs of category 1 see Table 5 1 After the ISR is finished processing continues exactly at the instruction where the interrupt occurred i e the interrupt has no influence on
294. tion execution They can be used for dynamic control of task stacks usage Using OS Extended Status for Debugging It is strongly recommended to use Operating System Extended Status when you develop an application to analyze return codes of system services Such OS configuration is more memory and time consuming but it allows the user to save time for errors eliminating Error codes returned by the OSEK OS services covers most of possible errors that can arise during development Therefore it is useful to check these codes after a service call to avoid error that can lead to the system crash For example a task can perform the TerminateTask service while it is still occupying a resource This service will not be performed and the task will remain active running In case of Extended Status the E_OS_RESOURCE error code is returned and it is possible to detect this situation But in the system without Extended Status there is no additional check and this error is not indicated and the application behavior will be unpredictable When all errors in an application will be eliminated you may turn off the Extended Status and remove additional status checks from the application to get the reliable application of the smaller size Context Switch Monitoring TR 250 ORTI Trace Interfaces provides the user with the ability to trace application execution including context switching But there is an ability to monitor context switching without us
295. tion or application specific error code if the initialization did not complete successfully BCC1 ECC1 InitCOM StatusType InitCOM void None None OSEKturbo OS MPC5xx TR 231 For More Information www freescale com System Services Freescale Semiconductor Inc Communication Management Services Description Particularities Status Conformance Syntax Input Output Description Particularities Status Conformance Syntax Input Output Description Status Conformance Syntax Input TR 232 The service is intended for initialization of communication hardware This service does nothing in OSEKturbo E_OK the initialization completed successfully BCC1 ECC1 CloseCOM StatusType CloseCOM void None None The service is intended for de initialization of communication hardware This service does nothing in OSEKturbo E_OK the initialization completed successfully BCC1 ECC1 StopCOM StatusType StopCOM Scalar lt ShutdownMode gt Input parameter is indifferent in case of local communication None This service is used to terminate a session of OSEK COM release resources where applicable E OK no error E_COM_BUSY application uses COM resources BCC1 ECC1 Messagelnit StatusType MessageInit void None OSEKturbo OS MPC5xx For More Information www freescale com Output Description Particularities
296. tion turns floating point support This option has the type BOOLEAN The possible values are the following e TRUE floating point registers are saved restored during context switch FP bit in MSR is always set during task s execution e FALSE floating point registers are not saved restored during context switch the state of FP bit is indeterminate If the FloatingPoint option has the TRUE value then the lt FPsupport gt compiler option has to be not N none Nested Interrupts According to the OSEK OS v 2 2 specification there are no any services which enables interrupts directly Therefore nested interrupts with the same hardware levels can not occur Application must not enable interrupts in ISR using direct manipulation of CPU registers it may cause an unpredictable application behavior there is an exception for this rule see Enhanced Interrupt Controller Interrupts of different levels are processed in usual way and may be nested For multilevel emulation and enhanced modes nested interrupts with different priorities are allowed OSEKturbo OS MPC5xx TR 163 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features Interrupt Dispatcher OSEKturbo OS MPC5xx provides threelevels of the interrupt dispatching e None when interrupt dispatching is not supported e OneLevel when one interrupt level for external interrupts is supported
297. tions of managing alarms when a counter is advanced Alarms are defined statically as with all other system resources The assignment of alarms to counters as well as the action to be performed when an alarm expires task and event are also defined statically An application can use an alarm after it has been defined and assigned to a counter Alarms may be either in the stop state or running state To run an alarm the special system services are used which set dynamic alarm parameters to start it Dynamic alarm parameters are e the counter value when an alarm has to expire e the cycle value for cyclic alarms An alarm can be started at any moment by means of system services SetAbsAlarm or SetRelAlarm An alarm will expire and predefined actions will take place when a specified counter value is reached This counter value can be defined relative to the actual counter value or as an absolute value The difference between relative and absolute alarms is the following e Relative alarm expires when the specified number of counter ticks has elapsed starting from the current counter value at the moment the alarm was set e Absolute alarm expires when the counter reaches the specified number of ticks starting from zero counter value no matter which value the counter had at the moment the alarm was set If the specified number of ticks is less than the current counter value the counter will roll over and count until the specified val
298. to check the error status of the each OS service call if this hook is used This hook is useful as a temporary feature of a working debugged applications when some troubles occur If the attribute is defined this hook is called from the system service in which error occurs i e itis not allowed to use this hook for particular service s only USEGETSERVICEID BOOLEAN The attribute specifies possibility of usage the access macros to the service ID in the error hook e USEPARAMETERACCESS BOOLEAN The attribute specifies possibility of usage the access macros to the context related information in the error hook IdleLoopHook BOOLEAN This OSEKturbo specific attribute defines whether the user s provided hook is called by system from scheduler idle loop OSEKturbo OS MPC5xx TR 125 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition Task Definition when there are no tasks in ready or running state or not the IdleLoopHook hook routine This hook is intended for manipulation with hardware registers like COP It is not possible to call any OSEK OS services from this hook Floating Point Related Attributes OSEKturbo OS does not save restore floating point registers during system startup shutdown By default OS does not save restore floating point registers during context switch Therefore if it is necessary to perform floating point calculations inside OSEKturbo OS
299. tributes has scheme which described attributes nesting Possible attribute values are placed in angle brackets and OSEKturbo OS MPC5xx TR 113 For More Information www freescale com Freescale Semiconductor Inc System Objects Definition OS Definition separated by slash Default value is marked as bold text If default value is present the attribute can be omitted Scheme includes all attributes but some of them can be used if parent attribute has the determined value only You can find description of these dependencies below the scheme OS Definition TR 114 The Operating System is the mandatory object for any application This object is used to define OS configuration parameters The keyword OS is used for this object type Only one OS object can be defined in the application See Operating System Architecture for more detailed information about OS The syntax of the OS object definition is as follows OS lt name gt lt attributes gt OS object s attributes can be divided into groups which correspond to appropriate system objects and their interaction Nested structure of OS object definition are displayed on the syntax schemes of each attribute group Different groups of related attributes are described below Brief explanations are provided All these attributes should be defined inside the scope of the OS object Global System Attributes This group of attributes represents system features which
300. trol Conformance Syntax Input Output Description Particularities Status Conformance Syntax Input Output Description Particularities TR 244 BCC1 ECC ShutdownHook void ShutdownHook StatusType lt Error gt lt Error gt a code of the error occurred None To implement ShutdownHook the routine with name ShutdownHook shall be defined in user s code This hook is called by the operating system when the ShutdownOS service has been called This routine is called during the operation system shut down User can avoid return from the hook to calling level For example reset signal can be generated in the hook Interrupts category 2 and interrupts category 1 if their priority is not higher than any ISR category 2 priority are disabled in ShutdownHook See Hook Routines for general description of hook routines This hook is not called if the system configuration option ShutdownHook is turned off in the configuration file None BCC1 ECC1 IdleLoopHook void IdleLoopHook void None None To implement IdleLoopHook the routine with name IdleLoopHook shall be defined in user s code This hook is called by the operating system from scheduler idle loop It is not possible to call OSEK OS services from this hook Hardware dependent code like manipulation with COP registers may be placed here Interrupts inside this routine are enabled OSEKturbo OS MPC5
301. ttribute equal TRUE it means that RTF is set and the RTC stops while FREEZE is asserted It may be used during the application debugging If this attribute has value TRUE timer will be frozen during interrupt processing in the debug mode The RTSEL attribute specifies clock source for RTC timer SCCR RTSEL bit The EXTCLK value means that external clock will be used as clock source the OSCM value means that the main crystal OSEKturbo OS MPC5xx TR 169 For More Information www freescale com Freescale Semiconductor Inc PowerPC Platform Specific Features MPC555 Features TR 170 oscillator will be used as clock source This attribute shall have same value for System and Second timers if they are PIT and RTC Please see MPC555 User s Manual for MPC555 timers configuration DEC based System Second Timer The ISRPRIORITY attribute specifies the periodic interrupt request level This attribute shall have the 16 value The Prescaler Value attribute specifies the value of TBS Time Base Source bit of the SCCR System Clock Control Register If the value of this attribute is 0 then OSCCLK clock divided by 4 or 16 depending on value of TargetMCU ClockMultiplier The value of 1 specifies system clock divided by 16 as a clock source Please see the hardware manual for more details The TimerModuloValue attribute provides value to be re loaded into the decrementer register DEC and is used to determine decrementer interrupt rate
302. turbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Introduction Typographical Conventions The OSEK Operating System is scaled in two ways either by changing the set of system services or through the so called Conformance Classes They are available to meet different requirements concerning the OS functionality and capability These Conformance Classes differ not only in the number of services they provide but also in their capabilities and scalability The classes are based on one another in upwardly compatible fashion see Conformance Classes The OSEK OS is built according to the user s configuration instructions while the system is generated Both system and application parameters are configured statically Therefore a special tool called the System Generator is used for this purpose Special statements are designed to tune any parameter The user must only edit the definition file run the System Generator and then assemble the resulting files and the application ones Thus the user can adapt the Operating System for the control task and the target hardware The OS cannot be modified later at the run time Typographical Conventions This Technical Reference employs the following typographical conventions Boldface type Bold is used for important terms notes and warnings Italics Italics are used for all OSEK names of directives macros constants routines and variables Cour
303. ue If the specified value is greater than the current value the alarm will expire just after the counter reaches the desired number This is illustrated by Figure 7 2 In the latter case the total time until the alarm expires is the sum of T and T OSEKturbo OS MPC5xx TR 69 For More Information www freescale com Freescale Semiconductor Inc Counters and Alarms Alarm Callback Figure 7 2 Two Cases for the Absolute Alarm current specified maximum allowed 0 counter value absolute value counter value t x a specified current 0 absolute value counter value a a T dl If a cycle value is specified for the alarm it is logged on again immediately after expiry with this relative value Specified actions task activation or event setting will occur when the counter counts this number of ticks starting from the current value This behavior of the cyclic alarm is the same both for relative and absolute alarms If the cycle value is not specified it equals zero the alarm is considered as a single one WARNING Itis not recomended to use values of cycle and or increment parameters close to OxXFFFFFFFF hardware counter MAXALLOWEDVALUE for Alarms configured on a Hardware Timer The difference between MAXALLOWEDVALUE and this values should be greater than interrupt latency of the system time spent in the longest ISR Alarm Callback User can define alarm callback function for each alarm The function is pl
304. unction is fully supported in all Conformance Classes It is OSEKturbo extension of OSEK OS because OSEK VDX specifies full support only begining from BCC2 Nested resource occupation is only allowed if the inner critical sections are completely executed within the surrounding critical section Nested occupation of one and the same resource is forbidden The service call is allowed on task level and ISR level but not in hook routines This service is not implemented if no standard resources are defined in the configuration file The code supporting scheduler resource is excluded from application if scheduler resource is not defined on OIL Status e Standard OSEKturbo OS MPC5xx TR 199 For More Information www freescale com Freescale Semiconductor Inc System Services Resource Management Services Conformance TASK TaskA E OK no error e Extended E OS ID the resource identifier is invalid E_OS_NOFUNC attempt to release a resource which is not occupied by any task or ISR or another resource has to be released before E_OS_ACCESS attempt to release a resource which has a lower ceiling priority than the assigned in OIL priority of the calling task or interrupt routine This error code returned only if E_OS_NOFUNC was not returned BCC1 ECC1 Examples of Using Resources The example below presents resource management directives The following definitions can be made
305. vents Events Definition To generate an event in an application the EVENT definition is used it looks like the following EVENT EventName MASK 0x01 The declaration statement DeclareEvent may be used for compatibility with previous OSEK versions It may be omitted in application code DeclareEvent looks like the following DeclareEvent lt Event gt Some task event which used by the task as internal flags can be undefined in OIL file But it is strictly recommended to define all events and reference them in TASK object Missing of an event in TR 82 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Events Programming Issues OIL file can lead to wrong mask assignment If task has no references to events the task is considered as basic task Run time Services OSEK OS grants a set of services for the user to manage events A detailed description of these services is provided in Event Management Services Here only a brief list is given Table 8 1 Event Management Run time Services Service Name Description SetEvent Sets events of the given task according to the event mask ClearEvent ile events of the calling task according to the event GetEvent Gets the current event setting of the given task WaitEvent Transfers the calling task into the waiting state until specified events are set Examples of the run time services usa
306. version of uninstall program file IsUninst exe ver 5 10 145 0 from Windows NT Service Pack 4 processes shared files with error Resolving Get new version of IsUninst exe program Workaround Remove shared files manually after uninstallation Problem F Error The parameter is incorrect during installation Reason Too long full name include parent directories of the directory with installation media Workaround Move installation media to directory with shorter full path Problem G Some icon does not created in Start menu after installation OSEKturbo OS MPC5xx TR 177 For More Information www freescale com Freescale Semiconductor Inc Application Troubleshooting Known Problems Reason There is not enough space on target drive Workaround Reinstall OSEK OS to other drive TR 178 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 16 System Services This chapter provides a detailed description for all OSEK Operating System run time services with appropriate examples General Syntax This chapter consists of the following sections General Task Management Services ISR Management Services Resource Management Services Event Management Services Counter Management Services Alarm Management Services Communication Management Services Debugging Services Operating System Execution Control This chapter provides detailed descript
307. vice code and starts to execute non OSEK OS service code i e application code in the same or another task CPU leaves OSEK OS service code and starts to execute idle loop Typically trace sequence of current service looks like the following ORTI Trace Sequence Traced Value Description SERVICE 1_ID entering Service 1 SERVICE_1_EXIT leaving Service 1 possibly due to task switching SERVICE 2 ID entering Service 2 SERVICE_3_ID entering nested Service 3 call e g hook routine SERVICE_3 EXIT leaving Service 3 and resuming Service 2 SERVICE_2 EXIT leaving Service 2 possibly due to task switching ORTI Breakpoint Interface There is the ORTI Breakpoint interface intended to facilitate debugger access to task related data The interface is turned on if DEBUG_LEVEL OIL attribute does not equal to 0 The following static at breakpoints ORTI services are supported for a debugger on breakpoints access to tasks stacks counters alarms resources and messages information Information needed to display the current status of objects is available for the debugger whenever the debugger is stopped i e OSEKturbo OS MPC5xx TR 253 For More Information www freescale com Freescale Semiconductor Inc Debugging Application ORTI Features this information is not required in real time and hence can be read from the TCB or similar structure Information in the ORTI file all
308. with name PreTaskHook shall be defined in user s code This hook routine is called by the operating system before executing a new task but after the transition of the task to the running state to allow evaluation of the task ID by GetTaskID services This hook is called from the scheduler when it passes control to the given task It may be used by the application to trace the sequences and timing of tasks execution Particularities Interrupts category 2 and interrupts category 1 if their priority is not higher than any ISR category 2 priority are disabled in PreTaskHook See Hook Routines for general description of hook routines This hook is not called if the system configuration option PRETASKHOOK is set to FALSE Conformance BCC1 ECC1 PostTaskHook Syntax void PostTaskHook void Input None Output None Description To implement PostTaskHook the routine with name PostTaskHook shall be defined in user s code This hook routine is called by the operating system after executing the current task but before leaving TR 242 OSEKturbo OS MPC5xx For More Information www freescale com Particularities Status Conformance Syntax Input Output Description Particularities Status Freescale Semiconductor Inc System Services Operating System Execution Control the task s running state to allow evaluation of the task ID by GetTaskID This hook is called from the schedule
309. with the INTERNAL value More than one ACCESSOR SENT is defined for message Error The message is generated if there is more than one TASK or JSR defines an accessor to write the same message By other words every message might be referred only by one MESSAGE subattribute within ACCESSOR SENT defined for TASK or ISR object An ACCESSOR SENT shall be defined for message Warning The message is generated if there are neither TASK nor ISR defines an accessor to write the message By other words every message must be referred by one MESSAGE subattribute within the ACCESSOR SENT defined for TASK or ISR object At least one StepTime shall be bigger than 0 Error The message is generated if all Steps in the TimeScale definition has the StepTime values equal to 0 This Target Specific DLL is not intended to work with this platform Fatal Error The target specific DLL does not correspond to target platform TD0201 lt Target Name gt target is not supported by your license TR 310 Fatal Error The license for target platform is not provided OSEKturbo OS MPC5xx For More Information www freescale com TD0202 TD0203 Freescale Semiconductor Inc System Generation Error Messages List of Messages License lt OSEKTURBO gt expires in lt number gt days Warning The message warns when the license expires in less than 30 days The warning appears every work session License lt OSEKTURBO gt will expire t
310. ws to check most of errors caused by improper use of OSEK services ORTI The purpose of OSEK Run Time Interface ORTI implementation is giving the user extended opportunities in debugging embedded OSEK applications The OSEK Run Time Interface implementation confirms ORTI OSEK Run Time Interface v 2 0 Draft c 23 June 1999 OSEK VDX OSEK Run Time Interface ORTI Part A Language Specification v 2 1 1 4 March 2002 and OSEK VDX OSEK Run Time Interface ORTI Part B OSEK Objects and Attributes v 2 1 17 April 2002 The current version of OSEKturbo supports 2 0 and 2 1 ORTI versions The ORTI shall be supported from both sides an OSEK OS and a debugger The debugger able to display information in terms of OSEKturbo OS MPC5xx TR 247 For More Information www freescale com Freescale Semiconductor Inc Debugging Application General TR 248 OSEK system objects is OSEK aware debugger The internal OS data is to be made available to the debugger For this purpose special ORTI file is generated at configuration time by a System Generator As a result more information will be available to the user during application debugging session System Generator SysGen uses OIL file App oil as an input file Option o of the SysGen defines output ORTI file name Option O of the SysGen defines the version of ORTI specification to be supported in the output ORTI file The SysGen utility generates static information in the O
311. x TR 105 For More Information www freescale com Freescale Semiconductor Inc System Configuration Application Configuration File Application Configuration File Application configuration file contains the statements which define the system properties and objects Such file can have any extension and the extension oil is suggested by default The file of this format is processed by the SG utility As a result of application configuration file processing SG produces three types of standard C language files as it is described in Application Configuration and optional ORTI file as it described in Using OS Extended Status for Debugging SG produces two header files and one source file These files provides the code for all system tables descriptors arrays etc both in ROM and RAM according to the user specified application configuration OIL Concept OSEK Implementation Language OIL is the specially designed language for development of embedded applications based on OSEK concept OIL is used to describe the application structure application configuration as a set of system objects with defined links OIL allows the user to write an application configuration as a text file These files have predefined structure and special standard grammar rules All system objects specified by OSEK and relationships between them can be described using OIL OIL defines standard types for system objects Each object is described
312. xx For More Information www freescale com Conformance Freescale Semiconductor Inc System Services Operating System Execution Control IdleLoopHook is executed periodically if HCLowPower is set to FALSE Otherwise IdleLoopHook is executed one time only and CPU transfers itself to the low power mode It is recommended to set HCLowPower to FALSE if the user enters one of low power modes inside IdleLoopHook See Hook Routines for general description of hook routines This hook is not called if the system configuration option IdleLoopHook is turned off in the configuration file IdleLoopHook hook is not defined in the OSEK VDX Operating System v 2 2 10 September 2001 specification This is OSEKturbo extension of OSEK OS BCC1 ECC1 OSEKturbo OS MPC5xx TR 245 For More Information www freescale com Freescale Semiconductor Inc System Services Operating System Execution Control TR 246 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc 1 Debugging Application General This chapter provides information about OSEK OS feature intended for debugging a user application with OS This chapter consists of the following sections e General e Using OS Extended Status for Debugging e Context Switch Monitoring e Stack Debugging Support OSEK OS contains several mechanisms which help user to debug application Extended Status Extended status allo
313. xx TR 319 For More Information www freescale com Freescale Semiconductor Inc System Generation Error Messages List of Messages TD2252 Enhanced InterruptDispatcher can be defined only for MPC565 or MPC561 Error The Enchanced value is available for the InterruptDispatcher attribute only if the TargetMCU attribute has MPC561 MPC563 or MPCS565 value TR 320 OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Index A ALARM 135 ACTION 136 ALARMCALLBACKNAME 136 ALARMTIME 137 APPMODE 137 AUTOSTART 136 COUNTER 136 CYCLETIME 137 EVENT 136 TASK 136 alarm 68 Application configuration file 106 Application Modes 139 APPMODE 139 B Basic Task 22 32 C Ceiling Priority 59 COM USEMESSAGERESOURCE 140 USEMESSAGESTATUS 140 Conformance Class 22 conversion constant 66 COUNTER 134 MAXALLOWEDVALUE 135 MINCYCLE 135 TICKSPERBASE 135 CPU 110 E EVENT 134 MASK 134 event 79 Extended Status 26 100 250 Extended Task 22 30 H hook routines 93 l interrupt dispatcher 123 164 OSEKturbo OS MPC5xx Interrupt Service Routine ISR 47 interrupt stack frame 51 ISR 129 ACCESSNAME 133 ACCESSOR 133 CATEGORY 129 MESSAGE 133 PRIORITY 129 RESOURCE 133 MESSAGE 137 ACTION 138 CALLBACKNAME 139 CDATATYPE 138 EVENT 138 FLAGNAME 139 QUEUEDEPTH 138 TASK 138 TYPE 138 multilevel interrupt dispatcher 51 O OIL 106 OS 114 BuildNumber 115 CC 115 Clock
314. y The desired scheduling policy is defined by the user via the tasks configuration option SCHEDULE The valid values are NON and FULL If all tasks use NON scheduling scheduler works as non preemptive If all tasks use FULL scheduling scheduler works as full preemptive If some tasks use NON and other tasks use FULL scheduling scheduler works as mixed preemptive Non preemptive Scheduling The scheduling policy is considered as non preemptive if a task switch is only performed via one of a selection of explicitly defined system services explicit point of rescheduling Non preemptive scheduling imposes particular constraints on the possible timing requirements of tasks Specifically the lower priority non preemptable section of a running task delays the start of a task with higher priority up to the next point of rescheduling The time diagram of the task execution sequence for this policy looks like the following OSEKturbo OS MPC5xx For More Information www freescale com Freescale Semiconductor Inc Scheduler Scheduling Policy Figure 4 1 Non preemptive Scheduling latency time activation of task T1_for task T1 Task T1 suspended ready running Task T2 running suspended termination of task T2 Task T2 has lower priority than task T1 Therefore it delays task T1 up the point of rescheduling in this case termination of task T2 Only four following points of rescheduling exist in the OSEK
315. ype of the counters SWCOUNTER or HWCOUNTER and timer hardware for system timers or indicates if it is an application counter OSEKturbo OS MPC5xx For More Information www freescale com NOTE NOTE Freescale Semiconductor Inc Debugging Application ORTI Features The current counter value is applicable for software counters only The access to special purpose register is required for OS MPC hardware counters but this mechanism is not supported in ORTI The following alarm information is available to the user e alarm status e assigned counter e notified task and event e time left to expire e cycle value for cyclic alarm The time left to expire is applicable for alarms attached to software counters only The access to special purpose register is required for OS MPC hardware counters but this mechanism is not supported in ORTI The following resource information is available to the user e priority of the resource e resource state Depending on ORTI specification supported either message or message container information is generated The following message information is available to the user e message type e task to be notified and event e callback function name e notification flag The message container describes each existing combination of messages and ACCESSORRECEIVED The following message container information is available to the user e message name e message type e size of the queue e number of valid

OSEKturbo OS/MPC5xx v.2.2.1

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