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Dynamic C User Manual

1. with Costatements eee 48 Watching Vartabl s Dynamically 10 Costatement Syntax ee 49 3 3 Run DEMOB C 0 eee eeecteeneeeeeneeee 11 C ontrol Statements eee eee 50 Cooperative Multitasking siisi i 5 4 Advanced Costatement Topics 50 3 4 Summary of Features eee 12 The CoData Structure 50 4 Tanguag nmennn nni ntr 15 CoData Fields cceeceeeeceseeeneneeee 51 4 1 C Language Elements cee 15 Pointer to CoData Structure 52 4 2 Punctuation Tokens ecceeeere 16 Functions for Use With Named A 3 Dataset ci Ae ae ate ate 17 Costatements o s 52 Data Type Limits eee 17 Firsttime Functions 0 ee 53 44A Names si 3 ccicusces oorscbes eiet 18 Shared Global Variables 53 4 5 MATOS arere rerea a ren aa pE ean ES 19 5 5 COfUMCtiONS isien s 54 REStriCtiONS cccececceeseceseeeseeeeeeens 21 Cofunction Syntax cece 54 4 6 Numbe S ecceceseeeeceseeeeceeeeeteerees 21 Calling Restrictions 55 4 7 Strings and Character Data 22 CoData Structure eee 55 String Concatenation 22 Firsttime Functions s es 55 Character Constants c cccscsseeee 23 Types of Cofunctions ee 56 4 8 Statements ccccccsseesecseceseeseceseeeeees 23 Types of Cofunction Calls 57 4 9 Declarations cccccescccesseeseeeeeeeteees 24 Special Code Blocks eeee 58 4 10 FUnctions cccccccesscessssecsssece
2. Clear interrupt source Increment nesting count Do work necessary for interrupt Reenable interrupts optional Call OSIntExit Y Decrement Nesting Count Y Is Nesting 0 Yes No Is switch pending e Restore Registers used by TA ISR Return from interrupt Switch to new task Figure 4 Logical Flow of a TA ISR 274 Dynamic C User s Manual 18 2 3 1 Sample Code for a TA ISR Fortunately the Rabbit BIOS and libraries provide all of the necessary flags to make TA ISRs work With the code found in Listing 1 minimal work is needed to make a TA ISR function correctly with uC OS II TA ISRs allow uC OS II the ability to have ISRs that communicate with tasks as well as the ability to let ISRs nest thereby reducing interrupt latency Just like a standard ISR the first thing a TA ISR does is to save the registers that it is going to use 1 Once the registers are saved the interrupt source is cleared 2 and the nesting counter is incremented 3 Note that bios intnesting is a global interrupt nesting counter provided in the Dynamic C libraries specifically for tracking the interrupt nesting level If an ipres instruc tion is executed 4 other interrupts can occur before this ISR is completed making it necessary for this ISR to be a TA ISR If it is possible for the ISR
3. 17 print choosing a printer 193 print file sisisi nesis 193 print preview eee 193 PTintf ee 23 26 214 program example sinsi issii 26 POW erita 32 OPtIMIZe inori pe i 227 TOSCU 265 E E 200 spanning 2 flash 110 264 programmable ROM 4 project files 193 259 261 PLOMOTION 0 ee eee 178 protected Keyword oo eee 158 variables cccccceceeeeee 3 158 prototypes Checking ieni iniiis 224 function ee 25 26 39 in module header 39 punctuation wee 16 Q quitting Dynamic C 193 R Rabbit restart protected variables 158 RAM compile 225 268 read only memory ee 4 real time programming oe 3 redoing changes 0 194 registers saving and restoring 136 nS oT 6 0 hiirer re emesse 288 snapshots eseese 236 WIDOW ou cceseesseeeeeees 234 236 reserved words cee 126 reset program oo ee eects 200 resizing columns 236 Tel gine ee as 133 136 TOU EEEE EEE 136 TOU a a NENS 136 return 133 134 158 162 return address eee 128 root memory file system usage 111 Keyword oe eee eee 159 memory Map ee 107 static variables 108 variable address 126 RST 28H etira 199 263 run MENU oiii oiei ariii 199 mode mae 196 199 no polling wo ee 199 S sample programs
4. 10 Dynamic C User s Manual 3 3 Run DEMO3 C The example below sample program DEMO3 C uses costatements A costatement is a way to perform a sequence of operations that involve pauses or waits for some external event to take place 3 3 1 Cooperative Multitasking Cooperative multitasking is a way to perform several different tasks at virtually the same time An example would be to step a machine through a sequence of tasks and at the same time carry on a dialog with the operator via a keyboard interface Each separate task voluntarily surrenders its compute time when it does not need to perform any more immediate activity In preemptive multi tasking control is forcibly removed from the task via an interrupt Dynamic C has language extensions to support both types of multitasking For cooperative multi tasking the language extensions are costatements and cofunctions Preemptive multitasking is accomplished with slicing or by using the uC OS II real time kernel that comes with Dynamic C Premier 3 3 1 1 Advantages of Cooperative Multitasking Unlike preemptive multitasking in cooperative multitasking variables can be shared between dif ferent tasks without taking elaborate precautions Cooperative multitasking also takes advantage of the natural delays that occur in most tasks to more efficiently use the available processor time The DEMO3 C sample program has two independent tasks The first task prints out a message to STDIO
5. 11 2 4 Labels A label is a name followed by one or two colons A label followed by a single colon is local whereas one followed by two colons is global A local label is not visible to the code out of the current embedded assembly segment i e code before the asm or after the endasm directive Unless it is followed immediately by the assembly language keyword equ the label identifies the current code segment address If the label is followed by equ the label equates to the value of the expression after the keyword equ Because C preprocessor macros are expanded in embedded assembly code Z World recommends that preprocessor macros be used instead of equ whenever possible 11 2 5 Special Symbols This table lists special symbols that can be used in an assembly language expression Table 11 2 Special Assembly Language Symbols Symbol Description Indicates the amount of stack space in bytes used for stack RAF based variables This does not include arguments Constant for the current code location For example ld hl P Spe d PC loads the code address of the instruction ld hl PC 3 loads the address after the instruction since it is a 3 byte instruction Evaluates the offset from the frame reference point to the RETVAL stack space reserved for the struct function returns See Section 11 4 1 1 on page 129 for more information Determines the next reference address of a variable plus its LENG
6. 131 11 4 2 2 Instruction Cycle Time The Disassembled Code window shows the memory address on the far left followed by the code bytes for the instruction at the address followed by the mnemonics for the instruction The last column shows the number of cycles for the instruction assuming no wait states The total cycle time for a block of instructions will be shown at the lowest row in the block in the cycle time column if that block is selected and highlighted with the mouse The total assumes one execution per instruction so the user must take looping and branching into consideration when evaluating execution times 11 4 3 Local Variable Access Accessing static local variables is simple because the symbol evaluates to the address directly The following code shows for example how to load static variable y into HL Lel iail Gye load hl with contents of y 11 4 3 1 Using the IX Register Access to stack based local variables is fairly inefficient The efficiency improves if IX is used as a frame pointer The arguments will have slightly different offsets because of the additional two bytes for the saved IX register value Now access to stack variables is easier Consider for example how to load ch into register A diel e ieem a lt amp ch The IX offset load instruction takes 9 clock cycles and opcode is three bytes If the program needs to load a four byte variable such as 1g the X o
7. Chapter 12 Keywords 175 176 Dynamic C User s Manual 13 Operators An operator is a symbol such as or amp that expresses some kind of operation on data Most operators are binary they have two operands a 10 two operands with binary operator add Some operators are unary they have a single operand amount single operand with unary minus although like the minus sign some unary operators can also be used for binary operations There are many kinds of operators with operator precedence Precedence governs which oper ations are performed before other operations when there is a choice For example given the expression A ilp amp amp Oa will the or the be performed first Since has higher precedence than it will be performed first The expression is equivalent to a ilo CG 10 Parentheses can be used to force any order of evaluation The expression a io amp Os uses parentheses to circumvent the normal order of evaluation Associativity governs the execution order of operators of equal precedence Again parentheses can circumvent the normal associativity of operators For example a s lo ols b c performed first a slp Gl now c d is performed first ime salhe function returning ptr to int iae Cen OF ptr to function returning int Unary operators and assignment operators associate from right to left Most other operators associ
8. DEMO1 brk debugger breakpoints information e demol hdl no longer used e demol hex simple Intel HEX format output image file the serial DLM samples download a DLP s HEX file and load the image to flash e DEMO1 map the application s code data map file RabbitBios map is also gen erated separately For more information on the map file see Appendix B Appendix Title e DEMO1 rom ROM output file containing redundant addresses due to fixups it s used to generate the BDL BIN HEX and HDL files Reset Target Compile BIOS lt Citrl Y gt This option reloads the BIOS to RAM or flash depending on the choice made under BIOS Memory Setting in the Compiler dialog viewable from Options Project Options The following message will appear upon successful compilation and loading of BIOS code BIOS Successfully Compiled Ready to Compile User Programs 198 Dynamic C User s Manual 14 2 4 Run Menu Click the menu title or press lt Alt R gt to select the RUN menu Inspect Options Window He Run lt F9 gt i gt gt Run E3 Starts program execution from the current breakpoint Reg iE Stop Gil Hy isters are restored including interrupt status before execu i A Run w No Polling Alt F9 tion begins If in Edit mode the program is compiled and ayes F7 downloaded OF Step Over F8 Stop lt Ctrl Q gt Source Trace Into Alt F The Stop command stops the program at the current point of F Source Step Ove
9. EndHeader unsigned long ticks BeginHeader Get Ticks unsigned long Get Ticks EndHeader unsigned long Get Ticks BeginHeader Inc Ticks VOLC Line Waleles aliaic a EndHeader asm Tie WalCleis or a ipset 1 ipres ret endasm There are 3 modules defined in this code The first one is responsible for the variable ticks the second and third modules define functions Get_Ticks and Inc_Ticks that access the vari able Although Inc_ Ticks is an assembly language routine it has a function prototype in the module header allowing the compiler to check calls to it Chapter 4 Language 41 If the application program calls Inc_ Ticks or Get Ticks or both the module bodies corresponding to the called routines will be compiled The compilation of these routines triggers compilation of the module body corresponding to ticks because the functions use the variable ticks BeginHeader func a dae Suae el 5 ifdef SECONDHEADER define XYZ endif EndHeader int func _a ifdef SECONDHEADER priae NIL am iwi aCm As Na e endif BeginHeader func_b TAER EUNCEDIOF define SECONDHEADER EndHeader ifdef XYZ define FUNCTION B endif ime Swael 4 ifdef FUNCTION B primet Vr am cuMeciom 1 VAN y endif Let s say the above file is named mylibrary 1ib If an application has the statement use mylibrary lib and th
10. OS TASK OPT STK CLR OSTaskCreateExt task5 NULL 4 4 4096 NULL OS TASK OPT STK CHK OS TASK OPT STK CLR 18 1 3 Restrictions At the time of this writing uC OS II for Dynamic C is not compatible with the use of slice state ments Also see the function description for OSTimeTickHook for important information about preserving registers if that stub function is replaced by a user defined function Due to Dynamic C s stack allocation scheme special care should be used when posting messages to either a mailbox or a queue A message is simply a void pointer allowing the application to determine its meaning Since tasks can have their stacks in different segments auto pointers declared on the stack of the task posting the message should not be used since the pointer may be invalid in another task with a different stack segment 18 2 Tasking Aware Interrupt Service Routines TA ISR Special care must be taken when writing an interrupt service routine ISR that will be used in con junction with wC OS II so that uC OS II scheduling will be performed at the proper time 18 2 1 Interrupt Priority Levels uC OS II for the Rabbit reserves interrupt priority levels 2 and 3 for interrupts outside of the ker nel Since the kernel is unaware of interrupts above priority level 1 interrupt service routines for interrupts that occur at interrupt priority levels 2 and 3 should not be written to
11. everytime statements This must be the first statement in the cofunction It will be executed every time program exe cution passes to the cofunction no matter where the statement pointer is pointing After the everytime statements are executed control will pass to the statement pointed to by the cofunction s statement pointer abandon statements This keyword applies to single user cofunctions only and must be the first statement in the body of the cofunction The statements inside the curly braces will be executed if the single user cofunction is forcibly abandoned A call to loophead defined in COFUNC LIB is necessary for abandon statements to execute Example Samples COFUNC COFABAND C illustrates the use of abandon scofunc SCofTest int i abandon printf CofTest was abandoned n while i gt 0 print CofTest d n 1i yield main TIME Sep for x 0 x lt 10 x loophead ii l5 1 costate wid SCofTest 1 first caller costate wid SCofTest 2 second caller In this example two tasks in main are requesting access to SCofTest The first request is hon ored and the second request is held When loophead notices that the first caller is not being called each time around the loop it cancels the request calls the abandonment code and allows the second caller in 58 Dynamic C User s Manual 5 5 8 Solving the Real Time Problem with Cof
12. p now points to j k p k gets the value to which p points namely 45 p 25 The integer to which p points gets 25 Sameasj 25 since p pointsto j Beware of using uninitialized pointers Also the indirection operator can be used in complex ways int list 10 array of 10 pointers to integers int list 10 pointer to array of 10 integers float y pointer to a pointer toa float Zz y z gets the value of y typedef char stp stp my stuff my_stuff istyped char As a binary operator the indicates multiplication a b a a gets the product of b and c Divide is a binary operator Integer division truncates floating point division does not const int i 18 const j 7 k float x k i j result is 2 x float i j result is 2 591 Chapter 13 Operators 179 Pre or post increment is a unary operator designed primarily for convenience If the precedes an operand the operand is incremented before use If the operator follows an operand the operand is incremented after use int i a 12 i 0 q ali q gets a 0 then i becomes 1 r ali r gets a 1 then i becomes 2 s i i becomes 3 then s i i i becomes 4 If the operator is used with a pointer the value of the pointer increments by the size of the object in bytes to which it points With operands other than pointers the value increments by 1 Pre or post
13. 0x0705 DC _CRC PTR Reserved The compiler substitutes this macro with the date that the file was compiled either the BIOS or the c file The character DETE string literal is of the form Mmm dd yyyy The days of the month are as follows Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec There is a space as the first character of dd if the value is less than 10 Go to the Compiler tab of Project Options and click on the Advanced button at the bottom of the dialog box Check DEBUG RST Include RST 28 instructions to set DEBUG_RST to 1 Debug code will be included even if nodebug precedes the main function in the program The compiler substitutes this macro with the current source FILE code file name as a character string literal Dynamic C User s Manual 285 Table A 2 Macros Defined by the Compiler Macro Name Definition and Default _FAST RAM _FLASH_ _RAM_ These are used for conditional compilation of the BIOS to distinguish between the three options e compiling to and running in flash e compiling to and running in RAM e compiling to flash and running in RAM The choice is made in the Compiler tab of Project Options The default is compiling to and running in flash The BIOS defines FAST _RAM_ COMPILE FLASH COMPILE and RAM COMPILE These macros are defined to 0 or 1 as opposed to the corresponding compiler defined macro
14. 11 5 C Calling Assembly Dynamic C does not assume that registers are preserved in function calls In other words the func tion being called need not save and restore registers 11 5 1 Passing Parameters When a program calls a function from C it puts the first argument into HL if it has one or two bytes with register H containing the most significant byte If the first argument has four bytes it goes in BC DE with register B containing the most significant byte Only the first argument is put into the primary register while all arguments including the first pushed last are pushed on the stack 11 5 2 Location of Return Results If a C callable assembly function is expected to return a result of primitive type the function must pass the result in the primary register If the result is an int unsigned int char or a pointer return the result in HL register H contains the most significant byte If the result is a long unsigned long or float return the result in BCDE register B contains the most significant byte A C function containing embedded assembly code may of course use a C return statement to return a value A stand alone assembly routine however must load the pri mary register with the return value before the ret instruction Chapter 11 Using Assembly Language 133 11 5 2 1 Returning a Structure In contrast if a function returns a structure of any size the calling function reserves space on the
15. 3 1 4 Editing the Program Press lt F4 gt to put Dynamic C into edit mode Use the Save as choice on the File menu to save the file with a new name so as not to change the original demo program Save the file as MYTEST C Now change the number 20000 in the for statement to 10000 Then use the lt F9 gt key to recom pile and run the program The counter displays twice as quickly as before because you reduced the value in the delay loop 3 2 Run DEMO2 C Go back to edit mode and open the program DEMO2 C This program is the same as the first pro gram except that a variable k has been added along with a statement to increment k by the value of i each time around the endless loop Compile and run DEMO2 C 3 2 1 Watching Variables Dynamically Press lt Ctrl W gt to open the Add Watch Expression popup box Type k in the text entry box then click OK or Add aude E x to add the expression k to the Watch Expression Ik x top of the list of watch OK Cancel Help expressions Now press lt Ctrl U gt the keyboard short cut for updating the watch window Each time you press lt Ctrl U gt you will see the current value of k Add another expression to the watch window k 5 Then press lt Ctrl U gt several times to observe the watch expressions k and k 5 The evaluation of an expression that will result in a run time exception will ignore the exception and the result of the expression will be undefined
16. Add Watch Expression popup box will appear Type the lower case letter j and click on either Add or OK The former keeps the popup box open the latter closes it Either way the Watches window appears This is where information on watch expressions will be displayed Now continue single stepping Each time you do the watch expression j will be evaluated and printed in the Watches window Note how the value of j advances when the statement j is executed 3 1 3 Breakpoint Move the cursor to the start of the statement for j 0 j lt 20000 j To set a breakpoint on this statement press lt F2 gt or select Toggle Breakpoint from the Run menu A red highlight appears on the first character of the statement To get the program running at full speed press lt F9 gt The program will advance until it hits the breakpoint The breakpoint will start flashing both red and green colors Chapter 3 Quick Tutorial 9 To remove the breakpoint press lt F2 gt or select Toggle Breakpoint on the Run menu To continue program execution press lt F9 gt Now the counter should be printing out regularly in the Stdio win dow You can set breakpoints while the program is running by positioning the cursor to a statement and using the lt F2 gt key If the execution thread hits the breakpoint a breakpoint will take place You can toggle the breakpoint with the lt F2 gt key and continue execution with the lt F9 gt key
17. DEF2 Equivalent define DEF1 define MAXN 10 define DEF2 Example DEF1 MAXN 10 DEF2 Equivalent define DEF1 define MAXN 10 define DEF2 Example STATEMENT A B C DEF1 10 Equivalent define STATEMENT A B C define DEF1 10 Example STATEMENT A B C FORMATSTR name s n DEF1 10 Equivalent define STATEMENT A B C define FORMATSTR name s n define DEF1 10 230 Dynamic C User s Manual Targetless Tab Click on the Targetless tab to reveal 3 additional tabs RTI File Specify Parameters and Board Selection RTI File Click on this tab to open a Rabbit Target Information RTI file for viewing The file is read only You may not edit RTI files but you may create one by selecting an entry in the Board Selection list and clicking on the button Save as RTI Or you may define a board configuration in the Specify Parameters dialog and then save the information in an RTI file Details follow Specify Parameters This is where you may define the parameters of a controller for later use in targetless compilations Project Options Rabbit 2000 revision IQ4T Chapter 14 Graphical User Interface 231 The result may be saved to a RTI file for later use or the result may be saved to the list of board configurations This list is viewable from the Board Selection tab The highlighted entry in the list of board configurations is the one that will be used when
18. EndHeader int var Chapter 12 Keywords 151 firsttime firsttime in front of a function body declares the function to have an implicit CoData parameter as the first parameter This parameter should not be specified in the call or the proto type but only in the function body parameter list The compiler generates the code to automati cally pass the pointer to the CoData structure associated with the costatement from which the call is made A firstime function can only be called from inside of a costatement cofunction or slice statement The De layTick function from COSTATE LIB below is an example of a firsttime function firsttime nodebug int DelayTicks CoData pfb unsigned int ticks if ticks 0 return 1 if pfb gt firsttime fb gt firsttime 0 save current ticker fb gt content ul unsigned long TICK TIMER else if TICK TIMER pfb gt content ul gt ticks return 1 return 0 float Declares variables function return values or arrays as 32 bit IEEE floating point int func float x y p float PI 3 14159265 float func float par 152 Dynamic C User s Manual for Indicates the beginning of a for loop A for loop has an initializing expression a limiting expression and a stepping expression Each expression can be empty for anendless loop fer i 0 i lt n i counting loop goto Causes a program to go to a labe
19. For Rabbit Semiconductor Microprocessors Integrated C Development System User s Manual 040313 019 0125 B This manual or an even more up to date revision is available for free download at the Z World website www zworld com ii Table of Contents 1 Installing Dynamic Co eee 1 4 19 Function Chaining cesses 36 1 1 Requirement c ccccccesecccseseseeneeeees 1 4 20 Global Initialization cee 37 1 2 ASSUMPTIONS inenen 1 421 Libraries e n cise aie ca oki Ss 38 4 22 HEALS oir ea R 39 2 Nat odvc On te Dynamic Cosa 3 Ae Madde es en a aain 39 2 1 The Nature of Dynamic C uu 3 The Parts of a Module ooo 39 Speed PE a E E T 3 Module Sample Code sscccscssssssssee 41 ae Dynamic C Enhancements and Important Notes ceeceeseeeeeeeeeee 42 Differences sesoeeeeeeseesenesnesnnassnannanansnnanseey 4 4 24 Function Description Headers 43 2 3 Dynamic C Difierences Between Rabbit 4 25 Support Files ssccccsssssssssssssseusssssseen 43 and ZIO i ei a eee ees 6 3 Quick Tutorial n 7 gt Muitas kng wh Bra A D 5 1 Cooperative Multitasking 0 45 3 1 Run DEMOL C Bia Qeivaiains deo ieies 8 5 2 A Real Time Problem ets css 47 Single Stepping PE OTOPENI 9 Solving the Real Time Problem Watch Expression SUN e eg eee 9 witha State Machine techs ss 47 Breakpoint T E oe A A S 7 5 3 C st temientS inene 48 Editing the Program eee 10 Solving the Real Time Problem 3 2 Run DEMO2 C 0 eis 10
20. The list file is placed in the same directory as your program with the name lt Program Name gt LST The list file has the same format as the Disassembled Code window Each C statement is followed by the generated assembly code Each line of assembly code is broken down into memory address machine code opcode and number of clock cycles See page 235 for a screen shot of the Disassembled Code window Chapter 14 Graphical User Interface 225 Separate Instruction and Data Space When checked this option enables separate I amp D space doubling the amount of root code and root data space available Please note that if you are compiling to a 128K RAM there is only about 12K avail able for user code when separate I amp D space is enabled Default Compile Mode One of the following options will be used when Compile Compile is selected from the main menu of Dynamic C or when the keyboard shortcut lt F5 gt is used The set ting shown here may be overridden by choosing a different option in the Compile menu e Compile to attached target a program is compiled and loaded to the attached target e Compile defined target configuration to bin file a program is compiled and the image written to a bin file The target configuration used in the compile is taken from the parameters specified in Options Project Options The Target less tab allows you to choose an already defined board type or you may define one of your own e Compile
21. static means the data occupies a permanent fixed location for the life of the program The term auto refers to variables that are placed on the system stack for the life of a function call The default storage class is auto but can be changed by using class static The default storage class can be superseded by the use of the key word auto or static ina variable declaration These terms apply to local variables that is variables defined within a function If a variable does not belong to a function it is called a global variable available anywhere in the program but there is no keyword in C to represent this fact Global variables always have static storage 28 Dynamic C User s Manual 4 15 Pointers A pointer is a variable that holds the 16 bit logical address of another variable a structure or a function Dynamic C does not currently support long pointers The indirection operator is used to declare a variable as a pointer The address operator amp is used to set the pointer to the address of a variable Wie oe eO af e LA ocr CO 1 Giz set pointer equal to the address of i i 10 assign a value to i J pier toO L this sets j equal tothe value in i In this example the variable ptr_to_i is a pointer to an integer The statement j ptr_to_i references the value of the integer by the use of the asterisk Using correct pointer terminology the statement dereferences the pointer ptr_to_i
22. Compiler dialog box Chapter 15 Command Line Interface 243 ini Description Generates inline code for WrPortI RdPortI BitWrPortI and BitRdPortI if all arguments are constants Factory Default No inline code is generated for these functions GUI Equivalent Check Inline builin I O functions in the Project Options Compiler dia log box lf Description Undo Library Directory file specification Factory Default No Library Directory file is specified GUI Equivalent This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Uncheck User Defined Lib Directory File mf Description Memory BIOS setting Flash Factory Default Memory BIOS setting Flash GUI Equivalent Select Code and BIOS in Flash in the Project Options Compiler dialog box mfr Description The BIOS and code are compiled to flash and then the BIOS copies the flash image to RAM to run the code Factory Default Memory BIOS setting Flash GUI Equivalent Select Code and BIOS in Flash Run in RAM in the Project Options Compiler dialog box mr Description Memory BIOS setting RAM Factory Default Memory BIOS setting Flash GUI Equivalent Select Code and BIOS in RAM in the Project Options Compiler dialog box 244 Dynamic C User s Manual N Description Factory Default GUI Equivalent Description Factory Def
23. Disable memory manager define OS MEM EN 0 Enable mailboxes define OS MBOX EN 1 278 Dynamic C User s Manual Enable semaphores define OS SEM EN 1 number of ticks in one second define OS TICKS PER SEC 64 number of 256 byte stacks idle task stack define STACK CNT 256 1 number of 512 byte stacks task stacks initial program stack define STACK CNT _512 OS MAX TASKS 1 If a particular portion of uC OS II is disabled the code for that portion will not be compiled mak ing the overall size of the operating system smaller Take advantage of this feature by customizing uC OS II based on the needs of each application 18 4 2 Custom Configuration In order to customize uC OS II by enabling and disabling components of the operating system simply redefine the configuration constants as necessary for the application define OS MAX EVENTS 2 define OS MAX TASKS 20 define OS MAX QS I define OS MAX MEM PART 15 define OS TASK STAT EN i define OS Q EN 0 define OS MEM EN 1 define OS_MBOX_EN 0 define OS TICKS PER SEC 64 If a custom stack configuration is needed also define the necessary macros for the counts of the different stack sizes needed by the application define STACK CNT 256 1 idle task stack define STACK CNT 512 2 initial program stat task stack define STACK CNT _1K 10 task stacks define STACK CNT 2K 10 number of 2K stacks In the application code follow the uC OS II
24. For a function to modify the original value of a parameter pass the address of or a pointer to the parameter and then design the function to accept the address of the item Chapter 4 Language 31 4 18 Program Flow Three terms describe the flow of execution of a C program sequencing branching and looping Sequencing is simply the execution of one statement after another Looping is the repetition of a group of statements Branching is the choice of groups of statements Program flow is altered by calling a function that is transferring control to the function Control is passed back to the calling function when the called function returns 4 18 1 Loops A while loop tests a condition at the start of the loop As long as expression is true non zero the loop body some statement s will execute If expression is initially false zero the loop body will not execute The curly braces are necessary if there is more than one statement in the loop body while expression some statement s A do loop tests a condition at the end of the loop As long as expression is true non zero the loop body some statement s will execute A do loop executes at least once before its test Unlike other controls the do loop requires a semicolon at the end do some statements while expression The for loop is more complex it sets an initial condition exp evaluates a terminating condi tion exp2 and provides a stepping exp
25. Sends a single command to the slave and gets a response This function also serves as a general example of how to implement the master side of the slave protocol PARAMETERS address Slave channel address to send command to command Command to be sent to the slave see Section 7 3 2 1 data Data byte to be sent to the slave data returned Address of variable to place data returned by the slave timeout Time to wait before giving up on slave response RETURN VALUE 20 Response code 1 Timeout occured before response 2 Nothing at that address response Oxff LIBRARY MASTER SERIAL LIB Chapter 7 The Slave Port Driver 87 MSread int MSread char address char buffer int size unsigned long timeout DESCRIPTION Receives bytes from the serial port on the slave PARAMETERS address Slave channel address of serial handler buffer Array to put received data into size Size of array max bytes to be read timeout Time to wait between characters before giving up on receiving any more RETURN VALUE The number of bytes read into the buffer behaves like serXread LIBRARY MASTER SERIAL LIB 88 Dynamic C User s Manual MSwrFree int MSwrFree char address DESCRIPTION Gets the number of bytes available in the specified serial port write buffer on the slave PARAMETERS address Slave channel address of serial handler RETURN VALUE Number of bytes free Success 1 Failure LIBRARY MA
26. The only methods supported for leaving a slice state ment are completely executing the last statement in the slice or executing an abort yield or waitfor statement The return continue break and goto statements are not supported Slice statements cannot be used with wC OS II or TCP IP 62 Dynamic C User s Manual 5 9 4 Slice Data Structure Internally the slice statement uses two structures to operate When defining a named slice statement you supply a context buffer as the first argument When you define an unnamed slice statement this structure is allocated by the compiler Internally the context buffer is represented by the SliceBuffer structure below struct SliceData int time out void my sp void caller sp CoData codata struct SliceBuffer SliceData slice_data char stack fills rest of the slice buffer 5 9 5 Slice Internals When a slice statement is given control it saves the current context and switches to a context associated with the slice statement After that the driving force behind the slice statement is the timer interrupt Each time the timer interrupt is called it checks to see if a slice statement is active Ifa slice statement is active the timer interrupt decrements the time_out field in the slice s SliceData When the field is decremented to zero the timer interrupt saves the slice statement s context into the SliceBuffer and restores the previous context Once the
27. Z WORLD retains all right title and interest in and to all intellectual property rights embodied in the Software including but not limited to patents copyrights and trade secrets 4 Export Law Assurances You agree and certify that neither the Software nor any other techni cal data received from Z WORLD nor the direct product thereof will be exported outside the United States or re exported except as authorized and as permitted by the laws and regulations of the United States and or the laws and regulations of the jurisdiction if other than the United States in which You rightfully obtained the Software The Software may not be exported to any of the following countries Cuba Iran Iraq Libya North Korea Sudan or Syria 5 Government End Users If You are acquiring the Software on behalf of any unit or agency of the United States Government the following provisions apply The Government agrees i if the Software is supplied to the Department of Defense DOD the Software is classified as Commercial Computer Software and the Government is acquiring only restricted rights in the Software and its documentation as that term is defined in Clause 252 227 7013 c 1 of the DFARS and ii if the Software is supplied to any unit or agency of the United States Govern ment other than DOD the Government s rights in the Software and its documentation will be as defined in Clause 52 227 19 c 2 of the FAR or in the case of NASA in Claus
28. in the Project Options Compiler dialog box Report only serious warnings All warnings reported Select Serious Only under Warning Reports in the Project Options Compiler dialog box Chapter 15 Command Line Interface 249 15 4 2 Switches Requiring a Parameter bf BIOSFilePathname Description Compile using a BIOS file found in BIOSFilePathname Factory Default Bios RabbitBios c GUI Equivalent This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check the box under User Defined BIOS File and then fill in the pathname for the new BIOS file Example dccl_cmp myProgram c bf MyPath MyBIOS 1lib clf ColdLoaderFilePathname Description Compile using cold loader file found in ColdLoaderFilePathname Factory Default Bios ColdLoad bin GUI Equivalent None Example dcecl_ cmp myProgram c clf MyPath MyColdloader bin 250 Dynamic C User s Manual d MacroDefinition Description Define macros and optionally equate to values The following rules apply and are shown here with examples and equivalent define form Separate macros with semicolons dccl_cmp myProgram c d DEF1 DEF2 define DEF1 define DEF2 A defined macro may be equated to text by separating the defined macro from the text with an equal sign dccl_cmp myProgram c d DEF1 20 DEF2 define DEF1 20 define DEF2 Macro definiti
29. specified by the user in the Compiler Options dialog to facilitate working on multiple projects These files hold the default compilation environment that is shipped from the factory DEFAULT DCP may be modified but not PROJECT DCP See Chapter 16 for details on project files PROJECT DCP DEFAULT DCP Chapter 4 Language 43 Dynamic C User s Manual 5 Multitasking with Dynamic C A task is an ordered list of operations to perform In a multitasking environment more than one task each representing a sequence of operations can appear to execute in parallel In reality a single processor can only execute one instruction at a time If an application has multiple tasks to perform multitasking software can usually take advantage of natural delays in each task to increase the overall performance of the system Each task can do some of its work while the other tasks are waiting for an event or for something to do In this way the tasks execute almost in par allel There are two types of multitasking available for developing applications in Dynamic C preemp tive and cooperative In a cooperative multitasking environment each well behaved task voluntar ily gives up control when it is waiting allowing other tasks to execute Dynamic C has language extensions costatements and cofunctions to support cooperative multitasking Preemptive multi tasking is supported by the slice statement which allows a computat
30. the function prototype should be xmem int func Any of the following will put the function in xmem xmem int func j xmem int func or xmem int func int func or int func xmem int func In addition to flagging individual functions the xmem keyword can be used with the compiler directive memmap to send all functions not declared as root to extended memory memmap xmem This construct is helpful if an application is running out of root code space Another strategy is to use separate I amp D space Using both memmap xmem and I amp D space is not advised and might cause an application to run out of xmem depending on the size of the application and the size of the flash 166 Dynamic C User s Manual xstring Declares a table of strings in extended memory The strings are allocated in flash memory at com pile time which means they can not be rewritten directly The table entries are 20 bit physical addresses The name of the table represents the 20 bit physi cal address of the table this address is assigned to name by the compiler xstring name string 1 string n yield Used in a costatement this keyword causes the costatement to pause temporarily allowing other costatements to execute The yield statement does not alter program logic but merely postpones it for f costate yield Chapter 12 Keywords 167 12 1 Compiler Directives Compiler directive
31. use FS2 LIB For the simplest applications this is all that is necessary for configuration For more complex applications there are several other macro definitions that may be used before the inclusion of FS2 LIB These are define FS MAX DEVICES 3 define FS MAX LX 4 define FS MAX FILES 10 These specify certain static array sizes that allow control over the amount of root data space taken by FS2 If you are using only one flash device and possibly battery backed RAM and are not using partitions then there is no need to set FS_ MAX DEVICES or FS MAX LX For more information on partitioning please see section 10 4 Setting up and Partitioning the File System on page 115 10 2 2 FS2 Configuration Macros FS MAX DEVICES This macro defines the maximum physical media If it is not defined in the program code FS MAX DEVICES will default to 1 2 or 3 depending on the values of FS2_ USE PROGRAM FLASH XMEM RESERVE SIZE and FS2 RAM RESERVE FS MAX LX This macro defines the maximum logical extents You must increase this value by 1 for each new partition your application creates It this is not defined in the program code it will default to FS_ MAX DEVICES For a description of logical extents please see section 10 4 2 Logical Extents LX on page 116 Chapter 10 The Flash File System 111 FS MAX FILES This macro is used to specify the maximum number of files that are allowed to coexist in the e
32. 4 1 Initial Formatting The filesystem must be formatted when it is first used The only exception is when a flash memory device is known to be completely erased which is the normal condition on receipt from the fac tory If the device contains random data then formatting is required to avoid the possibility of some sectors being permanently locked out of use Formatting is also required if any of the logical extent parameters are changed such as changing the logical sector size or re partitioning This would normally happen only during application development The question for application developers is how to code the application so that it formats the file system only the first time it is run There are several approaches that may be taken e A special program that is loaded and run once in the factory before the application is loaded The special program prepares the filesystem and formats it The application never formats it expects the filesystem to be in a proper state e The application can perform some sort of consistency check If it determines an inconsis tency it calls format The consistency check could include testing for a file that should exist or by checking some sort of signature that would be unlikely to occur by chance e Have the application prompt the end user if some form of interaction is possible e A combination of one or more of the above e Rely ona flash device being erased This would be OK for a product
33. 82 Dynamic C User s Manual cof MSwrite int cof MSwrite char address char data DESCRIPTION Transmits an array of bytes from the serial port on the slave Yields to other tasks while waiting for write buffer to clear PARAMETERS address Slave channel address of serial handler data Array to be transmitted length Size of array RETURN VALUE Number of bytes actually written or 1 if error LIBRARY MASTER SERIAL LIB MSclose int MSclose char address DESCRIPTION Closes a serial port on the slave PARAMETERS address Slave channel address of serial handler RETURN VALUE 0 Success 1 Failure LIBRARY MASTER SERIAL LIB int length Chapter 7 The Slave Port Driver 83 MSgetc int MSgetc char address DESCRIPTION Receives a character from the serial port PARAMETERS address Slave channel address of serial handler RETURN VALUE Value of received character 1 No character available LIBRARY MASTER SERIAL LIB MSgetError int MSgetError char address DESCRIPTION Gets bitfield with any current error from the specified serial port on the slave Error codes are SER_PARITY ERROR SER _OVERRUN_ERROR PARAMETERS address Slave channel address of serial handler RETURN VALUE Number of bytes free Success 1 Failure LIBRARY MASTER SERIAL LIB 84 Dynamic C User s Manual MSinit int MSinit int io bank DESCRIPTION Sets up the connection to
34. Assembler Operator Symbol Operator Description Ps conditional array index dot gt points to dereference 11 2 1 Comments C style comments are allowed in embedded assembly code The assembler will ignore comments beginning with text from the semicolon to the end of line is ignored text from the double forward slashes to the end of line is ignored text between slash asterisk and asterisk slash is ignored 11 2 2 Defining Constants Constants may be created and defined in assembly code with the assembly language keyword db define byte db should be followed immediately by numerical values and strings separated by commas For example each of the following lines all define the string ABC db TARU By UEA Gli Weel db 0x41 0x42 0x43 The numerical values and characters in strings are used to initialize sequential byte locations If separate I amp D space is enabled assembly constants should either be put in their own assembly block with the const keyword or be done in C asm const myrootconstants db 0x40 0x41 0x42 endasm or const char myrootconstante 4 x40 x4is x4074 Chapter 11 Using Assembly Language 123 If separate I amp D space is enabled db places bytes in the base segment of the data space when it is used with const If the const keyword is absent i e asm myrootconstants db
35. C application program dc_timestamp This internally defined long is the number of seconds that have passed since 00 00 00 January 1 1980 Greenwich Mean Time GMT adjusted by the current time zone and daylight savings of the PC on which the program was compiled The recorded time indicates when the program finished compiling printf The date and time lx n dc timestamp OPMODE This is a char It can have the following values e 0x88 debug mode e 0x80 run mode SEC_TIMER This unsigned long variable is initialized to the value of the real time clock RTC If the RTC is set correctly this is the number of seconds that have elapsed since the reference date of January 1 1980 The periodic interrupt updates SEC_TIMER every second This variable is initialized by the Virtual Driver when a program starts MS_TIMER This unsigned long variable is initialized to zero The periodic interrupt updates MS_TIMER every millisecond This variable is initialized by the Virtual Driver when a program starts TICK_TIMER This unsigned long variable is initialized to zero The periodic interrupt updates TICK_TIMER 1024 times per second This variable is initialized by the Virtual Driver when a program starts Dynamic C User s Manual 287 A 3 Exception Types These macros are defined in errors 1lib define define define define define define define define define define define define define define defin
36. COFUNC LIB and COSTATE LIB libraries that support cooperative multitasking using Dynamic C language extensions The sample program Pong c demonstrates output to the STDIO window Read the comment block at the top of the sample program for a general description of its purpose Further details are provided in this comment block when needed Comments are also in the source code The sample program documentation is provided by the software engineers and is a rich source of information Chapter 3 Quick Tutorial 7 3 1 Run DEMO1 C This sample program will be used to illustrate some of the functions of Dynamic C Open the file Samples DEMO1 C using the File menu or the keyboard shortcut lt Ctrl O gt The program will appear in a window as shown in Figure 1 below minus some comments Use the mouse to place the cursor on the function name printf in the program and press lt Ctrl H gt This brings up a doc umentation box for the function printf You can do this with all functions in the Dynamic C libraries including libraries you write yourself Gaz File Edit Compile Run Inspect Options Window Help lej x D emal SB AA Alla ema sR aint f f programs begin with main while 1 Start an endless loop i f Increment the counter for j 0 j lt 20000 j Delay by counting to 20 000 printt i din ij f f Print ont counter Default Line 21 Col 70 Insert A Figure 3 1 Sample Program DEMO1 C To run
37. ChkSum is not consistent with the address the program will generate a run time error and reset The check sum is maintained automatically It is initialized by GLOBAL INIT CoBegin and CoReset First Time The firsttime field is a flag that is used by a waitfor or wait fordone statement It is set to 1 before the statement is evaluated the first time This aids in calculating elapsed time for the functions DelayMs DelaySec DelayTicks IntervalTick IntervalMs and IntervalSec Chapter 5 Multitasking with Dynamic C 51 Content The content field a union is used by the costatement or cofunction delay routines to store a delay count Check Sum 2 The ChkSum2 field is currently unused 5 4 3 Pointer to CoData Structure To obtain a pointer to a named costatement s CoData structure do the following CoData Costi allocate memory for a CoData struct CoData AOCOsicls pcostl amp costl1 get pointer to the CoData struct CoBegin pcostl1 initialize CoData struct costate pcost1 pcost1 is the costatement name and also a Va pointer to its CoData structure 5 4 4 Functions for Use With Named Costatements For detailed function descriptions please see the Dynamic C Function Reference Manual or select Function Lookup Insert from Dynamic C s Help menu keyboard shortcut is lt Ctrl H gt All of these functions are in COSTATE LIB Each one takes a pointer to a CoData struct as its only parameter int
38. Costatements are not supported inside indexed cofunctions Single user cofunctions can not be indexed 5 5 5 3 Single User Cofunction Since cofunctions are executing in parallel the same cofunction normally cannot be called at the same time from two places in the same big loop For example the following statement containing two simple cofunctions will generally cause a fatal error waitfordone cofunc_nameA cofunc_nameA This is because the same cofunction is being called from the second location after it has already started but not completed execution for the call from the first location The cofunction is a state machine and it has an internal statement pointer that cannot point to two statements at the same time 56 Dynamic C User s Manual Single user cofunctions can be used instead They can be called simultaneously because the sec ond and additional callers are made to wait until the first call completes The following statement which contains two single user cofunctions is okay waitfordone scofunc_nameA scofunc_nameA loopinit This function should be called in the beginning of a program that uses single user cofunctions It initializes internal data structures that are used by loophead loophead This function should be called within the big loop in your program It is necessary for proper single user cofunction abandonment handling Example echoes characters main iil GP serXope
39. Ctrl Right Move cursor to next word Move editor window up text moves down one line Cursor is Giru not moved Move editor window down text moves up one line Cursor is Ctrl Down not moved The Home key may be used alone or with other keys Home Move to beginning of line Ctrl Home Move to beginning of file Shift Home Select to beginning of line Shift Ctrlt Home Select to beginning of file Chapter 14 Graphical User Interface 191 The End key may be used alone or with other keys End Move to end of line Ctrl End Move to end of file Shift End Select to end of line Shift Ctrl End Select to end of file 14 2 Menus Dynamic C s main menu has 8 command menus as well as the standard Windows system menus An available command can be executed from a menu by click File Edit Compile Run Inspect Options Window Help ing the menu and then clicking the command or by 1 pressing the Alt key to activate the menu bar 2 using the left and right arrow keys to select a menu 3 and using the up or down arrow keys to select a command and 4 pressing Enter It is usually more convenient to type keyboard shortcuts such as lt Ctrl H gt for the Library Function Lookup option Pressing the Esc key will make any visible menu disappear A menu can be activated by holding the Alt key down while pressing the underlined letter of the menu name For
40. Dynamic C allocates and maps memory For details on memory mapping refer to any of the following e Rabbit 2000 Microprocessor User s Manual e Rabbit 3000 Microprocessor User s Manual e Rabbit 3000 Designer s Handbook Technical Note 202 Rabbit Memory Management in a Nutshell All of the above documents are available at www zworld com 9 2 Extended Memory Functions A program can use many pages of extended memory Under normal execution code in extended memory maps to the logical address region EOOOH to FFFFH Extended memory addresses are 20 bit physical addresses the lower 20 bits of a long integer Pointers on the other hand are 16 bit machine addresses They are not interchangeable However there are library functions to convert address formats To access xmem data use function calls to exchange data between xmem and root memory Use the Dynamic C functions root2xmem xmem2root and xmem2xmem to move blocks of data between logical memory and physical memory 9 2 1 Code Placement in Memory Code runs just as quickly in extended memory as it does in root memory but calls to and returns from the functions in extended memory take a few extra machine cycles Code placement in mem ory can be changed by the keywords xmem and root depending on the type of code Pure Assembly Routines Pure assembly functions may be placed in root memory or extended memory Prior to Dynamic C version 7 10 pure assembly ro
41. E E E E E 184 FATAL ss us aen ee ene ieas 169 13 5 Equality Operators 0 0 0 eeeeeeeeeeee 184 GLOBAL_INIT eee 170 es se ned at sa eg ha al 184 HEITOT ssosessssosesesseensnsssssssseescesevessnn 170 ERE Say eee ene Rater 184 ce nechat ena 170 13 6 Logical Operators eeeeeeseeeeeees 185 elif ESE E E E EEE E EAEAN 185 else E E es taie hea geist 185 endif sessirnir 171 A ETE A T TEET 185 PEEL encnennieneni peene 171 ifndef oh Rie nO ES 172 ES GEOR C ES PIGSSONS cian Nees ie int rleave O ET E E E 185 ANET EAV e 172 D a a 185 PK red endene 172 COE ereen 186 makechain a 172 E E E ance miele 186 memmap a Es aO A AROE ARAE DAE AE RRENA NE 172 13 8 Reference Dereference Operators 186 FPLAQM A sees epis 173 amp 186 precompile eee rede eh eM he a Oe 173 eee e eee cece eee eee ee eee eeesesess esses sessseeees Hinde e re ot Ae scien tte es 174 te sleet etdvbe sus setasevewssnt A sat tad 187 HUSO EE elite re eat esata 174 13 9 Conditional Operators 187 useix ek aioe n he eke cant 187 Dynamic C User s Manual v Ype rennene 188 SIZO fesoro eS a 188 E E RE EET 189 14 Graphical User Interface ee 191 T4 VES inenen 191 14 2 Men s ip a ie ates 192 Pile Menu aso esisi rei 192 Edit Menu osese 194 Compile Menu eee 197 Run Menu uu eee eseceeeeseeeees 199 Inspect Menu soseer 201 Options Menu ou eee eee 204 Window Menu s es 234 Help Menu ossessi 238 15 Command Line Interface 241 15 1
42. If this is checked the debug and nodebug keywords and compiler directives work as normal Debug code consists mainly of RST 28h instructions inserted after every C statement This option also controls the definition of a compiler defined macro symbol DEBUG_RST If the menu item is checked then DEBUG _RST is set to one otherwise it is zero If the option is not checked the compiler marks all code as nodebug and debugging is not possible The only reason to check this option if debugging is finished and the program is ready to be deployed is to allow some current or planned diagnostic capa bility of the Rabbit Field Utility RFU to work in a deployed system This option affects both code compiled to bin files and code compiled to the tar get To run the program after compiling to the target with this option discon nect the target from the programming port and reset the target CPU Chapter 14 Graphical User Interface 227 Include BIOS If this is checked the BIOS as well as the user program will be included in the bin file If you are creating a special program such as a cold loader that starts at address 0x0000 then this option should be unchecked This option is not available when you are compiling a program to the attached target controller Debugger Tab Click on the Debugger tab to display the following dialog This is where you can disable parts of the debug kernel to save room if there are tight code space requirement
43. Rabbit based system the Dynamic C development environment provides a superior stack allocation mechanism that uC OS II incorporates Rather than declaring stacks as static arrays the number of stacks of particular sizes are declared and when a task is created using either OSTaskCreate or OSTaskCreateExt only the size of the stack is passed not the memory address This mecha nism allows a large number of stacks to be defined without using up root RAM There are five macros located in ucos2 1ib that define the number of stacks needed of five dif ferent sizes In order to have three 256 byte stacks one 512 byte stack two 1024 byte stacks one 2048 byte stack and no 4096 byte stacks the following macro definitions would be used define STACK CNT 256 3 number of 256 byte stacks define STACK CNT 512 1 number of 512 byte stacks define STACK CNT _1K 2 number of 1K stacks define STACK CNT 2K 1 number of 2K stacks define STACK CNT 4K 0 number of 4K stacks These macros can be placed into each uC OS II application so that the number of each size stack can be customized based on the needs of the application Suppose that an application needs 5 tasks and each task has a consecutively larger stack The macros and calls to OSTaskCreate would look as follows define STACK CNT_256 define STACK CNT 512 define STACK CNT 1K define STACK CNT 2K define STACK CNT 4K number of 256 byte stacks number of 512 byte stacks n
44. XMEM_RESERVE_SIZE will NOT be available for xmem code 112 Dynamic C User s Manual 10 2 3 FS2 and Use of the First Flash To use the first flash in FS2 follow these steps 1 Define XMEM_RESERVE_SIZE currently set to 0x0000 in the BIOS to the number of bytes to allocate in the first flash for the file system 2 Define FS2_USE_PROGRAM_FLASH to the number of KB 1024 bytes to allocate in the first flash for the file system Do this in the application code before use fs2 1lib 3 Obtain the LX number of the first flash Call fs_get_other_1x when there are two flash memories call s_ get flash _1x when there is only one 4 If desired create additional logical extents by calling the FS2 function fs_setup to further partition the device This function can also change the logical sector sizes of an extent Please see the function description for fs_ setup in the Dynamic C Function Reference Manual for more information 10 2 3 1 Example Code Using First Flash in FS2 If the target board has two flash memories the following code will cause the file system to use the first flash FSLXnum flashil logical extent number File f struct for file information flashl fs get _other_1x if flashi fs set _1lx flashl flashl fcreate amp f f 10 To obtain the logical extent number for a one flash board fs_get_flash_1x must be called instead of fs get other 1x Chapter 10 The Flash File S
45. a bin file There are 2 choices available with this option Compile to Flash and Compile to Flash Run in Ram The target configuration used in the compile is determined in Options Project Options Compiler tab From there under Default Compile Mode you can choose to use the attached tar get or a defined target configuration The defined target configuration is accessed by clicking on the Targetless tab which will reveal three additional tabs RTI File Specify Parameters and Board Selection To learn more about these tabs see page 231 The bin file may be used with a device programmer to program multiple targets or the Rabbit Field Utility RFU can be used to load the bin file to the target If you are creating special a program such as a cold loader that starts at address 0x0000 you can exclude the BIOS from being compiled into the bin file by unchecking the option to include it This is done by choosing Options Project Options Compiler and clicking on the Advanced button Chapter 14 Graphical User Interface 197 In addition to the bin file several other files are generated with this compile option For example if you compile demol c toa bin file the following files will be in the same folder as demol c DEMO1 bak backup of the application source file made at compile time when this option is enabled e demol bd1 binary image download file used when loading the application toa connected target
46. after a successful compile You may choose one of the radio buttons in this category Selecting Open last used windows makes Dynamic C 8 act like Dynamic C 7 x Under Specific Preferences is where you customize each window Colors and fonts are chosen here as well as other options Chapter 14 Graphical User Interface 213 Stdio Window The previous screen shows the options available for the Stdio window They are described here You may modify or check as many as you would like Automatic open Check this to open the Stdio window the first time printf is encoun tered Automatic Vertical Scroll Check this to force vertical scroll when text is displayed outside the view of the window If this option is unchecked the text display doesn t change when the bottom of the window is passed you have to use the scroll bar to see text beyond the bottom of the window Automatic Horizontal Scroll Check this to force horizontal scroll when text is displayed outside the view of the window Log to File Check this to direct output to a file If the file does not exist it will be created If it does exist it will be overwritten unless you also check the option to append the file Rows Specifies the maximum number of rows that can hold Stdio data Columns Specifies the maximum number of columns that can hold Stdio data When the maximum column is reached output automatically wraps to the next row Spaces In Tab Tab stops d
47. and integer data are not changed with the cast operator although high order bits will be lost if the receiving value is not large enough to hold the converted value unsigned i float x 10 5 char c i unsigned x i gets 10 c char amp x c gets the low byte of x typedef typeA typedef typeB typeA item1 typeB item2 item2 typeB item1 forces item1 to be treated as a typeB The sizeof operator is a unary operator that returns the size in bytes of a variable structure array or union It operates at compile time as if it were a built in function taking an object or a type as a parameter typedef struct int x char y float z record record array 100 int a b c d char cc Fourscore and seven char list ABC DEFG HI define array size sizeof record 100 number of bytes in array a sizeof record 7 b array _size 700 c sizeof cc 20 d sizeof list 6 Why is sizeof list equal to 6 list is an array of 3 pointers to char and pointers have two bytes Why is sizeof cc equal to 20 and not 19 C strings have a terminating null byte appended by the compiler 188 Dynamic C User s Manual Comma operator This operator unique to the C language is a convenience It takes two operands the left operand typically an expression is evaluated producing some effect and then dis carded The right hand expression is
48. and stack configuration constants with a use ucos2 1lib statement This ensures that the definitions supplied outside of the library are used rather than the defaults in the library This configuration uses 20 tasks two semaphores up to 15 memory partitions that the memory manager will control and makes use of the statistics task Note that the configuration constants for task creation task deletion and semaphores are not defined as the library defaults will suffice Also note that 10 of the application tasks will each have a 1024 byte stack 10 will each have a 2048 byte stack and an extra stack is declared for the statistics task Chapter 18 uwC OS II 279 18 4 3 Examples The following sample programs demonstrate the use of the default configuration supplied in UCOS2 LIB and a custom configuration which overrides the defaults Example 1 In this application ten tasks are created and one semaphore is created Each task pends on the semaphore gets a random number posts to the semaphore displays its random number and finally delays itself for three seconds Looking at the code for this short application there are several things to note First since uC OS IL and slice statements are mutually exclusive both rely on the periodic interrupt for a heart beat Huse ucos2 1ib must be included in every uC OS II application 1 In order for each of the tasks to have access to the random number generator semaphore
49. assembly function modifies the XPC register with LD XPC A it should not be placed in xmem If it accesses data on the stack directly the data will be one byte away from where it would be with a root function because 1cal1 pushes the value of XPC onto the stack 17 3 2 Increasing Root Data Space Increasing the available amount of root data space may be done in the following ways e Enable Separate Instruction and Data Space A hardware memory management scheme that uses address line inversion to double the amount of logical address space in the base and data segments is enabled on the Com piler tab of the Options Project Options dialog Enabling separate I amp D space doubles the amount of root code and root data available for an application program e Decrease DATAORG Root data space can be increased by decreasing DATAORG in RabbitBios c in increments of 0x1000 At the time of this writing RAM compiles should be done with no less than the default value of DATAORG when separate I amp D space is disabled This restriction is to ensure that the pilot BIOS does not overwrite itself The default is 0x6000 Be aware that decreasing DATAORG reduces the amount of root code space e Use xmem for large RAM buffers xalloc can be used to allocate chunks of RAM in extended memory The memory cannot be accessed by a 16 bit pointer so using it can be more difficult The functions xmem2root and root2xmem are available for moving from
50. attributes of headers footers page numbering and margins for the printed page The Print Alerts dialog is where you enable and disable these set tings You may also change the font family and font size that will be used by the printer This does not apply to the fonts used for headers and footers those are defined in the Page Setup dialog There are 4 checkboxes in the Alerts area of this dialog The first 2 signal a successful compile and download one with a visual signal the other auditory The 3rd checkbox detects if a file that is currently open in Dynamic C has been modified by an external source i e a 3rd party editor and if checked will bring up a dialog box asking if you want to reload the modified file so that Dynamic C is working with the most current ver sion The last checkbox if checked causes Dynamic C to query when an attempt is made to compile a library file to make sure that is what is desired You may choose zero or more of these alerts 220 Dynamic C User s Manual Project Options Settings used by Dynamic C to communicate with a target and to compile and run programs are accessible by using the Project Options dialog box The dialog box has tabs for various aspects of communicating with the target the BIOS and the compiler Communications Tab Project Options WEUVGTC AGGESS GHG eG UISCGVETY Connection Type Choose either a serial connection or a TCP IP connection Chapter 14 Graphi
51. basic C constructs 00 26 saving a file oe 193 Search teXt urani ee 195 Seegehalli sussa eee 36 159 SEGSIZE opienie 107 separate I amp D space 123 137 202 226 shadow registers 288 SHALE dsann eia 159 shared variables 3 158 SHOE 4h ener taie 160 single stepping 131 202 263 with descent 0 0 cece 199 without descent 199 SIZE E EAA 160 227 SIZEOL aE EEE 160 skipping to next loop pass 33 SLAVE Poft oiiire 71 slice statements ee eeeeeee 61 soft breakpoints 00 199 source files oo eee eeeeeeteceeeeeee 38 SOULCE WINdOW eeeeeeeeeeeee 234 SP stack pointer 129 134 135 142 174 special characters 0 0 0 0 23 special symbols in assembly enesesse 125 Speed sitiens 160 227 stack 31 132 134 135 136 142 145 157 263 Checking oc eee eee 263 frame 128 129 134 135 142 frame reference point 134 frame reference pointer 132 133 157 263 pointer SP 129 134 135 142 174 snapshots seese 237 WINdOW neeenssssssnessssseseesssee 237 STACKSEG eccceceeteceees 107 state machine Dynamic C User s Manual 307 eXaMple eiiie iei is 47 unbalanced stack 0 142 RMEM onies e 133 166 statements oo eee eee eee 23 undoing changes 194 asm blocks oe eee 127 States korece deen neei 161 uninitialized definition wee 107 variables 5 126 128 POINTETS re eiretier 30 MRC t
52. be tasking aware Also a uC OS II application should only disable interrupts by setting the interrupt priority level to 1 and should never raise the interrupt priority level above 1 Chapter 18 uwC OS II 271 18 2 2 Possible ISR Scenarios There are several different scenarios that must be considered when writing an ISR for use with uC OS II Depending on the use of the ISR it may or may not have to be written so that it is task ing aware Consider the scenario in the Figure below In this situation the ISR for Interrupt X does not have to be tasking aware since it does not re enable interrupts before completion and it does not post to a semaphore mailbox or queue Task 1 Interrupt X Interrupt X ISR ipres i Task 1 E Figure 1 Type 1 ISR If however an ISR needs to signal a task to the ready state then the ISR must be tasking aware In the example in the Figure below the TA ISR increments the interrupt nesting counter does the work necessary for the ISR readies a higher priority task decrements the nesting count and returns to the higher priority task Task 2 Interrupt X r Nesting 1 Interrupt X TA ISR Task 1 is readied Nesting 0 ipres Task 1 Figure 2 Type 2 ISR 272 Dynamic C User s Manual It may seem as though the ISR in this Figure does not have to increment and decrement the nesting count This is however very important If the ISR for Interrupt X is
53. be used Note that a single BIOS file can be made for compiling both to RAM and flash by using the preprocessor macros FLASH or _RAM_ These two macros are defined by the compiler based on the currently selected radio button in the BIOS Memory Setting group box User Defined Lib Directory File The Library Lookup information retrieved with lt Ctrl H gt is parsed from the libraries found in the 1ib dir file which is part of the Dynamic C installa tion Checking the Use box for User Defined Libraries File allows the parsing of a user defined replacement for 1ib dir when Dynamic C starts Library files must be listed in 1ib dir or its replacement to be available to a pro gram If the function description headers are formatted correctly See Function Description Headers on page 43 the functions in the libraries listed in the user defined replacement for 1ib dir will be available with lt Ctrl H gt just like the user callable functions that come with Dynamic C This is the same as the command line compiler 1f option Watch Code Allow any expressions in watch expressions This option causes any compilation of a user program to pull in all the utility functions used for expression evaluation Restricting watch expressions may save root code space Choosing this option means only utility code already used in the application program will be compiled Debug Instructions and BIOS Inclusion Include RST 28 instructions
54. button is in the bottom left of the dialog box It brings up the Print Setup dialog box which allows a printer to be selected The Network button allows printers to be added or removed from the list of printers Print Preview Displays whichever file is in the active editor window in the Preview Form window showing how the text will look when it is printed You can search and navigate through the printable pages and bring up the Print dialog box Print Brings up the Print dialog box which allows you to choose a printer Only text in an editor window may be printed To print the contents of debug windows the text must be copied and pasted to an editor window As many copies of the text as needed may be printed If more than one copy is requested the pages may be collated or uncollated Exit lt Alt F4 gt Close Dynamic C after prompting to save any unsaved changes to open files Chapter 14 Graphical User Interface 193 14 2 2 Edit Menu Click the menu title or press lt Alt E gt to select the EDIT menu Dynamic C Dist 8 00Beta2 File Compile Run Inspect Options C Undo Ctrl z na oe RedG SHELE FZ A amp Cut Ctrl Copy Ctrl C R Paste Ctrl V E Toggle Bookmark up Go to Bookmark Insert Code Template oh Find a Replace F6 BA Find Next F3 bad Reverse Find Next Alt F3 Gy Find in Files Grep Shift Ctrl F E Go to Line Number Ctl G Nal Previous Enor tl FAI A Mert E
55. by VdGet FreeWd is used as the argument when calling VaHitWd ID or VdReleaseWd ID to hit or deallocate a virtual watchdog The Virtual Driver counts down watchdogs every 62 5 ms If a virtual watchdog reaches 0 this is fatal error code 247 Once a virtual watchdog is active it should be reset periodically with a call to VdHitWd ID to prevent this If count 2 for a particular WDT then VdHitWd ID will need to be called within 62 5 ms for that WDT If count 255 VaHitWd ID will need to be called within 15 94 seconds The Virtual Driver does not count down any virtual WDTs if the user is debugging with Dynamic C and stopped at a breakpoint 6 5 Preemptive Multitasking Drivers A simple scheduler for Dynamic C s preemptive slice statement is serviced by the Virtual Driver The scheduling for wC OS U a more traditional full featured real time kernel is also done by the Virtual Driver These two scheduling methods are mutually exclusive slicing and uC OS II must not be used in the same program Chapter 6 The Virtual Driver 69 70 Dynamic C User s Manual 7 The Slave Port Driver The Rabbit 2000 and the Rabbit 3000 have hardware for a slave port allowing a master controller to read and write certain internal registers on the Rabbit The library SLaveport 1ib imple ments a complete master slave protocol for the Rabbit slave port Sample libraries Master _serial liband Sp_stream 1ib provide serial port and
56. causes to the same interrupt vector An interrupt handler must determine what actually caused the interrupt 3 Remove the cause of the interrupt If an interrupt has more than one possible cause check for all the causes and remove all the causes at the same time 5 When finished restore registers saved on the stack Naturally this code must match the code that saved the registers Interrupt routines written in C perform this automatically Stand alone assembly routines must pop the registers explicitly 6 Restore the interrupt priority level so that other interrupts can get the attention of the CPU ISRs written in C restore the interrupt priority level automatically when the function returns However stand alone assembly ISRs must restore the interrupt priority level explicitly by call ing ipres The interrupt priority level must be restored immediately before the return instructions ret or reti If the interrupts are enabled earlier the system can stack up the interrupts This may or may not be acceptable because there is the potential to overflow the stack 7 Return There are three types of interrupt returns ret reti and retn The value in IP is shown in the status bar at the bottom of the Dynamic C window If a breakpoint is encountered the IP value shown on the status bar reflects the saved context of IP from just before the breakpoint 136 Dynamic C User s Manual 11 7 2 Modifying Interrupt Vectors Prior to Dyn
57. continue on subsequent lines BeginHeader name name It is important to format the BeginHeader comment correctly otherwise Dynamic C cannot find the contents of the module The case of the word beginheader is unimportant but it must be preceded by a forward slash 3 astericks and one space The forward slash must be the first character on the line The BeginHeader comment must end with an asterick and a forward slash The key tells the compiler which functions exist in the module so the compiler can exclude the module if names in the key are not referenced Data declarations constants structures unions and variables as well as macros and function chains both makechain and funchain state ments do not need to be named in the key if they are completely defined in the header i e no extern declaration They are fully known to the compiler by being completely defined in the module header An important thing to remember is that variables declared in a header section will be allocated memory space unless the declaration is preceded with extern 4 23 1 2 Module Header Every line between the BeginHeader and EndHeader comments belongs to the header of the module When a library is linked to an application i e the application has the statement use library name Dynamic C precompiles every header in the library and only the headers With proper function prototypes and variable declarations a
58. corresponds to IQ5T 300010 corresponds to ILIT or IZIT 3000r1 corresponds to IL2T For backward compatibility we also support 2000 corresponds to IQ2T 3000 corresponds to ILIT or IZIT CrystalSpeed Base frequency decimal floating point in MHz RAMSize Decimal in KBytes FlashSize Primary flash decimal in KBytes Factory Default None GUI Equivalent Select Options Project Options Targetless Board Selection and choose a board from the list then select Compile Compile to bin File Compile to Flash Example decl_ cmp myProgram c rti 0x0700 2000r3 11 0592 512 256 a IQ IL and IZ are explained on page 232 256 Dynamic C User s Manual s Port Baud Stopbits Description Factory Default GUI Equivalent Example Use serial transmission with parameters defined in a colon separated for mat of Port Baud Stopbits BackgroundTx Port 1 2 3 4 5 6 7 8 Baud 110 150 300 600 1200 2400 4800 9600 12800 14400 19200 28800 38400 57600 115200 128000 230400 256000 Stopbits 1 2 Include all serial parameters in the prescribed format even if only one is being changed 1 115200 1 0 Select the Communications tab of Project Options Select the Use Serial Connection radio button Changing port from default of 1 to 2 decl cmp myProgram c s 2 115200 1 0 sto SerialResponseTimeout Description Factory Default GUI Equivalent Example Time in millisecond
59. ct re embedded quotes 23 HOLE ci eects a 171 COMPOSItES veecececceseceeeeeeeeeee 28 encryption 0 ee eee eee 291 Helsen 171 Keyword sinn 24 End Key ce sces ssctissenessecesceecs 191 endasm 121 125 169 MOStINE sceceeveceeseceseseeeeeeeeeees 27 EndHeader 39 40 41 FendiE keee aen cient 171 ee i eee 126 ENUM Sf secede heen esis 151 FEOT aae 170 pass by value onssas 31 EPROM rierien ei 4 fatal Pteeeessteseesrereeesteereesne 169 returned by function 134 EQU ea a 125 funcchain s reese 36 170 Einn LO a EEE E 28 ruses GLOBAL_INIT 170 data types osasin 27 error code ranges 101 PD roves rE 171 aggregate ooi 27 locating seess 195 196 Afdef ieaie en 171 primitive oona 17 run time 0 eee 101 224 Hifndef secesie 172 DATAORG 266 268 ESC key interleave ccceeceeeees 172 DATASEG cccccccccccecccececee 107 to close menu 005 192 PKT nk Sein cise eae 172 date Gd AE es ec on eto 68 examples makechain 36 172 r AO aencee ent 123 break A EEEE 33 memmap eeeeeeeeeneeeeee 172 debug ooann 263 CONtINUE oo eect eters 33 Options 0 eeeeeeeeeeneeeee 172 dialog DOX ossiani 228 FOr LOOP iiis 32 nodebug 157 169 264 disassemble ataddress sane 202 modules 00 eeeeetececeeesteeeees 41 mointerleave 0 0 eee 172 disassembled cole 202 Of AITAY arnir 27 FMOUSEIX ceeceeeeseeeeeeenees 17
60. decrement If the precedes an operand the operand is decremented before use If the operator follows an operand the operand is decremented after use int j a 12 j 12 q al jl j becomes 11 then q gets a 11 r al j l j becomes 10 then r gets a 10 s j s 10 then j becomes 9 j j becomes 8 Ifthe operator is used with a pointer the value of the pointer decrements by the size of the object in bytes to which it points With operands other than pointers the value decrements by 1 Modulus This is a binary operator The result is the remainder of the left hand operand divided by the right hand operand const int i 13 j i 10 j gets i mod 10 or 3 const int k 11 j k 3 7 j gets k mod 7 or 4 180 Dynamic C User s Manual 13 2 Assignment Operators Assignment This binary operator causes the value of the right operand to be assigned to the left operand Assignments can be cascaded as shown in this example a 10 bia a gets the result of the calculation a b 0 b gets O and a gets 0 Addition assignment a 5 Add 5 to a Sameas a a 5 Subtraction assignment a 5 Subtract 5 from a Sameas a a 5 Multiplication assignment a 5 Multiply a by5 Sameasa a 5 Division assignment a 5 Divide a by 5 Sameas a a 5 Modulo assignment ole a 5 a mod 5 Sameas a a 5 Left shift assignm
61. errors warnings and program output are directed to the console window and are optionally written or appended to a text file 15 1 Default States The command line compiler uses the values of the environment variables that are in the project file indicated by the pf switch or if the pf switch is not used the values are taken from default dcp For more information please see Chapter 16 Project Files on page 259 The command line compiler will compile and run the specified source file The exception to this is when the project file Default Compile Mode is one of the options which compiles to a bin file in which case the command line compiler will not run the program but will only compile the source to a bin file Command line help displayed to the console with dccl_ cmp gives a summary of switches with defaults from the default project file default dcp and dccl_ cmp pf specified project name dcp gives a summary of switches with defaults from the specified project file All project options including the default compile mode can be overridden with the switches described in Section 15 4 15 2 User Input Applications requiring user input must be called with the i option dccl_ cmp myProgram c i myProgramInputs txt where myProgramInputs txt is a text file containing the inputs as separate lines in the order in which myProgram c expects them 15 3 Saving Output to a File The output consists of all program printf s
62. for infrequently changing data or data rates that have writes on the order of tens of minutes instead of seconds Rapidly writing data to the flashi could result in using up its write cycles too quickly For example consider a 256K flash with 64 blocks of 4K each Using a flash with a maximum recommendation of 10 000 write cycles means a limit of 640 000 writes to the file system If you are performing one write to the flash per second in a little over a week you will use up its recommended lifetime Increase the useful lifetime and performance of the flash by buffering data before writing it to the flash Accumulating 1000 single byte writes into one multi byte write can extend the life of the flash by an average of 750 times FS2 does not currently perform any in memory buffering If you write a single byte to a file that byte will cause write activity on the device This ensures that data is written to non volatile storage as soon as possible Buffering may be implemented within the application if possible loss of data is tolerable 10 1 1 Maximum File Size The maximum file size for an individual file depends on the total file system size and the number of files present Each file requires at least two sectors at least one for data and always one for metadata for information used internally There also needs to be two free sectors to allow for moving data around FS2 supports a total of 255 files but storing a large number of small files i
63. full advantage of services provided by Dynamic C minor changes have been made to uC OS II 18 1 1 Ticks per Second In most implementations of uC OS II OS TICKS PER_SEC informs the operating system of the rate at which OSTimeTick is called this macro is used as a constant to match the rate of the periodic interrupt In uC OS II for the Rabbit however changing this macro will change the tick rate of the operating system set up during OSInit Usually a real time operating system has a tick rate of 10 Hz to 100 Hz or 10 100 ticks per second Since the periodic interrupt on the Rabbit occurs at a rate of 2 kHz it is recommended that the tick rate be a power of 2 e g 16 32 or 64 Keep in mind that the higher the tick rate the more overhead the system will incur In the Rabbit version of uC OS II the number of ticks per second defaults to 64 The actual num ber of ticks per second may be slightly different than the desired ticks per second if TicksPerSec does not evenly divide 2048 Chapter 18 uC OS II 269 Changing the default tick rate is done by simply defining OS TICKS PER_SEC to the desired tick rate before calling OSInit E g to change the tick rate to 32 ticks per second define OS TICKS PER SEC 32 OSInit OSStart 18 1 2 Task Creation In a uC OS II application stacks are declared as static arrays and the address of either the top or bottom depending on the CPU of the stack is passed to OSTaskCreate Ina
64. globals section The map file format is designed to be easy to read but with parsing in mind for use in program down loaders and in other possible future utilities for example an independent debugger Also the memory map as defined by the org statements will be saved into the map file Map files are generated in the same directory as the file that is compiled If compilation is not suc cessful the contents of the map file are not reliable B 1 Grammar lt mapfile gt lt memmap section gt lt function section gt lt global section gt lt memmap section gt lt memmapreg gt lt memmapreg gt lt register var gt lt 8 bit const gt lt register var gt XPCISEGSIZEIDATASEG lt function section gt lt function descripton gt lt function description gt lt identifier gt lt address gt lt size gt lt address gt lt logical address gt lt physical address gt lt logical address gt lt 16 bit constant gt lt physical address lt 8 bit constant gt lt 16 bit constant gt lt size gt lt 20 bit constant gt lt global section gt lt global description gt lt global description gt lt scoped name gt lt address gt lt scoped name gt lt global gt lt local static gt lt global gt lt identifier gt lt local static gt lt identifier gt lt identifier gt Comments are C style only Dynamic C User s Manual 289 290 Dynamic C User s Manual Appendix C Utility Progra
65. in memory Storing data using an uninitialized pointer can overwrite code or cause a crash A common mistake is to declare and use a pointer to char thinking there is a string But an unini tialized pointer is all there is char string Bicwecioy gering Waele Invalid printi String Invalid Pointer checking is a run time option in Dynamic C Use the compiler options command in the Options menu Pointer checking will catch attempts to dereference a pointer to unallocated mem ory However if an uninitialized pointer happens to contain the address of a memory location that the compiler has already allocated pointer checking will not catch this logic error Because pointer checking is a run time option pointer checking adds instructions to code when pointer checking is used 4 16 Pointers to Functions Indirect Calls Pointers to functions may be declared When a function is called using a pointer to it instead of directly we call this an indirect call The syntax for declaring a pointer to a function is different than for ordinary pointers and Dynamic C syntax for this is slightly different than the standard C syntax Standard syntax for a pointer to a function is returntype name argument list for example int funcl int a int b void func2 char Dynamic C doesn t recognize the argument list in function pointer declarations The correct Dynamic syntax for the above examples would b
66. in a system with LX 1 as a flash device of 256K and LX 2 as 4K of RAM an initial call to fs_setup might be made to partition LX 1 into two equal sized extents of 128K each LX 1 would then be 128K the first half of the flash and LX 3 would be 128K the other half LX 2 is untouched Having partitioned once fs setup may be called again to perform further subdivision This may be done on any of the original or new extents Each call to s_ setup in partitioning mode increases the total number of logical extents You will need to make sure that FS MAX LX is defined to a high enough value that the LX array size is not exceeded 116 Dynamic C User s Manual While developing an application you might need to adjust partitioning parameters If any parame ter is changed FS2 will probably not recognize data written using the previous parameters This problem is common to most operating systems The solution is to save any desired files to out side the file system before changing its organization then after the change force a format of the file system 10 4 3 Logical Sector Size fs setup can also be used to specify non default logical sector LS sizes and other parame ters FS2 allows any logical sector size between 64 and 8192 bytes providing the LS size is an exact power of 2 Each logical extent including sub partitions can have a different LS size This allows some performance optimization Small LSs are better fora R
67. is an actual delay of 60 1 seconds is considered acceptable Then if the processor guarantees to check the delay every 50 ms the delay would be at most 60 05 seconds and the accuracy requirement is satisfied 5 8 Overview of Preemptive Multitasking In a preemptive multitasking environment tasks do not voluntarily relinquish control Tasks are scheduled to run by priority level and or by being given a certain amount of time There are two ways to accomplish preemptive multitasking using Dynamic C The first way is uC OS II a real time preemptive kernel that runs on the Rabbit microprocessor and is fully sup ported by Dynamic C For more information see Chapter 18 uC OS II The other way is to use slice statements 5 9 Slice Statements The slice statement based on the costatement language construct allows the programmer to run a block of code for a specific amount of time 5 9 1 Slice Syntax slice context buffer context buffer size time slice name statement yield abort waitfor expression context buffer size This value must evaluate to a constant integer The value specifies the number of bytes for the buffer context buffer It needs to be large enough for worst case stack usage by the user program and interrupt routines time slice The amount of time in ticks for the slice to run One tick 1 1024 second Chapter 5 Multitasking with Dynamic C 61 name When defining a named slice s
68. is successfully com piled it and its outcome will appear in the Watches win Go to execution point dow If the cursor in the active win dow is positioned over a vari able or function name that name will appear in the Watch Watch Expression i x w e e Expression text box when the Add Watch Expression dialog box appears Clicking the Add button will add the given watch expression to the watch list and will leave the Add Watch Expression dialog open so that more watches can be added Clicking the OK button will add the given watch expression to the watch list and close the Add Watch Expression dialog Add Watch Expression To add a local variable to the Watch window the target controller s program counter PC must point to the function where the local variable is defined If the PC points outside the function an error message will display when Add or OK is pressed stating that the variable is out of scope or not declared An example of the results displayed in the Watches window appears below wt Watches Iof x 47 Ox002F j int 136 Ox0083 If the evaluation of a watch expression causes a run time exception the exception will be ignored and the value displayed in the Watches window for the watch expression will be unde fined Delete Watch Removes highlighted entry from the Watches window Chapter 14 Graphical User Interface 201 Delete All Watches Removes all entries from the
69. isa pointer to an integer int j 45 p amp j p now points to j k p k gets the value to which p points namely 45 p 25 The integer to which p points gets 25 Sameas j 25 since p points to j Beware of using uninitialized pointers Also the indirection operator can be used in complex ways int list 10 array of 10 ptrs to int int list 10 ptr to array of 10 ints float y ptrtoaptrtoa float Zz y z gets the value of y typedef char stp stp my stuff my stuff istyped char As a binary operator the indicates multiplication a b c a gets the product of b and c 13 9 Conditional Operators Conditional operators are a three part operation unique to the C language The operation has three operands and the two operator symbols and If the first operand evaluates true non zero then the result of the operation is the second operand Otherwise the result is the third operand int i j k ley lt k Baoan ky The operator is for convenience The above statement is equivalent to the following if j lt k i j else i k If the second and third operands are of different type the result of this operation is returned at the higher precision Chapter 13 Operators 187 13 10 Other Operators The cast operator converts one data type to another A floating point value is truncated when converted to integer The bit patterns of character
70. it is declared as a glo bal variable 2 In most cases all mailboxes queues and semaphores will be declared with global scope Next OSInit must be called before any other uC OS II function to ensure that the operating system is properly initialized 3 Before uC OS II can begin running at least one appli cation task must be created In this application all tasks are created before the operating system begins running 4 It is perfectly acceptable for tasks to create other tasks Next the semaphore each task uses is created 5 Once all of the initialization is done OSStart is called to start uC OS II running 6 In the code that each of the tasks run it is important to note the variable declarations The default storage class in Dynamic C is static so to ensure that the task code is reentrant all are declared auto 7 Each task runs as an infinite loop and once this application is started uC OS II will run indefinitely 280 Dynamic C User s Manual 1 Explicitly use uC OS II library use ucos2 1lib void RandomNumberTask void pdata 2 Declare semaphore global so all tasks have access OS EVENT RandomSem void main int i 3 Initialize OS internals OSInit for i 0 i lt OS MAX TASKS i 4 Create each of the system tasks OSTaskCreate RandomNumberTask NULL 512 5 semaphore to control access to random number generator RandomSem OSSemCreate 1 6 Begin multitas
71. keys may be used to scroll the list Pressing the first letter of the name of a code tem plate selects the first template whose name starts with that letter Pressing the same letter again will go to the next template whose name starts with that letter Continuing to press the same letter cycles through all the templates whose name starts with that letter To create edit or remove templates from the code template list go to Environment Options and click on the Code Templates tab Toggle Bookmark Toggle one of 10 bookmarks in the active edit window Go to Bookmark Go to one of 10 bookmarks in the active edit window Executing this command again will take you back to the location you were at before going to the bookmarked location 194 Dynamic C User s Manual Find lt Ctrl F gt Finds first occurrence of specified text Text may be specified by selecting it prior to opening the Find dialog box if the option Find text at cursor is checked in the Editor dialog under Environment Options Only one word may be selected if more than one word is selected the last word selected appears as the entry for the search text More than one word of text may be specified by typing it in or selecting it from the available history of search text There are several ways to narrow or broaden the search criteria using the Find dialog box For example if Case sensitive is unchecked then Switch and SWITCH would match the search te
72. module header ensures proper type checking throughout the application program Prototypes variables structures typedefs and mac ros declared in a header section will always be parsed by the compiler if the library is used and everything will have global scope It is even permissible to put function bodies in header sections but it s not recommended because the function will be compiled with any application that uses the library Since variables declared in a header section will be allocated memory space unless the declaration is preceded with extern the variable declaration should be in the module body instead of the header to save data space The scope of anything inside the module header is global this includes compiler directives Since the headers are compiled before the module bodies the last one of a given type of directive encountered will be in effect and any previous ones will be forgotten Using compiler directives like class or memmap inside module headers is inadvisable If it is important to set for example class auto for some library modules and class static for oth ers the appropriate directives should be placed inside the module body not in the module header Furthermore since there is no guaranteed compilation order and compiler directives have global scope when you issue a compiler directive to change default behavior for a particular module at the end of the module you should issue another compiler d
73. not ximport e OUTPUT_COMPRESSION BUFFERS default 0 Number of 24K buffers for compres sion compression also requires a 4K input buffer which is allocated automatically for each output buffer that is defined INPUT COMPRESSION BUFFERS default 1 Number of 4KB internal buffers in RAM used for decompression Each compressed file has an associated file descriptor of type ZFILE All fields in this structure are used internally and must not be changed by an application program 292 Dynamic C User s Manual C 2 2 Replacing the File Compression Utility Users can use their own compression utility replacing the one provided If the provided compres sion utility is replaced the following support libraries will also need to be replaced zimport lib 1lzss liband bitio 1lib They are located in lib zimport The default compression utility Zcompress exe is located in Dynamic C s root directory The util ity name is defined by a key in the current project file Compression Utility Zimport External Utility Zcompress exe To replace Zcompress exe as the utility used by Dynamic C for compression open your project file and edit the filename The compression utility must reside in the same directory as the Dynamic C compiler executable Dynamic C expects the program to behave as follows e Take as input a file name relative to the Dynamic C installation directory or a fully qualified path e Produce an output file of the sam
74. number of the preferred flash device the 2nd flash if available fs get 1x size FS2 Returns the number of bytes of the specified LX fs get other 1x FS2 Returns LX of the non preferred flash usually the first flash fs get _ram_ 1x FS2 Return the LX number of the RAM file system device fclose Closes a file fdelete FS2 Deletes a file 114 Dynamic C User s Manual 10 3 1 FS2 API Error Codes The library ERRNO LIB contains a list of all possible error codes returnable by the FS2 API These error codes mostly conform to POSIX standards If the return value indicates an error then the global variable errno may be examined to determine a more specific reason for the failure The possible errno codes returned from each function are documented with the function 10 4 Setting up and Partitioning the File System This step merits some thought before plowing ahead The context within which the file system will be used should be considered For example if the target board contains both battery backed SRAM and a second flash chip then both types of storage may be used for their respective advan tages The SRAM might be used for a small application configuration file that changes frequently and the flash used for a large log file FS2 automatically detects the second flash device if any and will also use any SRAM set aside for the file system if FS2_ RAM RESERVE is set 10
75. of an xpc offset address will result in either a 4k 64k or 1M dump range depending on how this option is set If a 4k or 64k range is selected the dump window will dump a 4k or 64k chunk of memory using the given xpc If Full Range is selected the win dow will dump 00 0000 ff ffff To increment or decrement the xpc use the and buttons located below and above the scroll bar These buttons are visible only for an xpc offset dump where the range is either 4k or 64k Chapter 14 Graphical User Interface 219 Print Alerts Tab Click on the Print Alerts tab to display the following dialog You may access both the Page Setup dialog and Print Preview from here Environment Options x Editor Gutter amp Margin Display Syntax Colors Code Templates Debug Windows Print Alerts Print Options Vv Use Header V Use Left Margin fo IV Use Footer JV Use Right Margin fi IV Number Pages V Syntax Print Vee fi P Wrap Lines JV Use Bottom Margin fi M Editor Font Name Size Courier New x 10 v Setup Preview Alerts Flash icon in taskbar after successful compile and download I Beep after successful compile and download IV Detect changes made to open file outside of IDE and prompt for reload IV Confirm compilation of library files Ceat The Page Setup dialog works in conjunction with the Print Alerts dialog The Page Setup dialog is where you define the
76. of operating a software program and editing files under Windows on a PC programming in a high level language e assembly language and architecture for controllers For a full treatment of C refer to one or both of the following texts The C Programming Language by Kernighan and Ritchie published by Prentice Hall C A Reference Manual by Harbison and Steel published by Prentice Hall Chapter 1 Installing Dynamic C 1 Dynamic C User s Manual 2 Introduction to Dynamic C Dynamic C is an integrated development system for writing embedded software It is designed for use with Z World controllers and other controllers based on the Rabbit microprocessor The Rab bit 2000 and the Rabbit 3000 are high performance 8 bit microprocessors that can handle C lan guage applications of approximately 50 000 C statements or 1 MB 2 1 The Nature of Dynamic C Dynamic C integrates the following development functions e Editing e Compiling e Linking e Loading e Debugging into one program In fact compiling linking and loading are one function Dynamic C has an easy to use built in full featured text editor Dynamic CPrograms can be executed and debugged interactively at the source code or machine code level Pull down menus and keyboard shortcuts for most commands make Dynamic C easy to use Dynamic C also supports assembly language programming It is not necessary to leave C or the development system to write assembly lang
77. once per second The second task watches to see if the keyboard has been pressed and prints the entered key main int secs seconds counter secs 0 initialize counter 1 while 1 endless loop First task will print the seconds elapsed 2 costate SECS increment counter 3 waitfor DelayMs 1000 wait one second printf d seconds n secs print elapsed seconds 4 Second task will check if any keys have been pressed costate 5 adic Uidoinnie abort key been pressed printf key pressed c n getchar i 6 end of while loop end of main ew Chapter 3 Quick Tutorial 11 The numbers in the left margin are reference indicators and not part of the code Load and run the program The elapsed time is printed to the STDIO window once per second Push several keys and note how they are reported The elapsed time message is printed by the costatement starting at the line marked 2 Costate ments need to be executed regularly often at least every 25 ms To accomplish this the costate ments are enclosed in a while loop The while loop starts at 1 and ends at 6 The statement at 3 waits for a time delay in this case 1000 ms one second The costatement executes each pass through the while loop When a wait for condition is encountered the first time the cur rent value of MS_ TIMER is saved and then on each subsequent pass the saved value is comp
78. port status register In this protocol the only bit used is for checking the command response register Bit 3 is set if the slave has written to SPDOR It is cleared when the master writes to SPSR which also deasserts the SLAVEATTN line Chapter 7 The Slave Port Driver 71 Accessing the same address 0 1 or 2 uses two different registers depending on whether the access was a read or a write In other words when writing to address 0 the master accesses a dif ferent location than when the it reads address 0 Table 7 2 What happens when the master accesses a slave register Register y Address Read Write 0 Gets command response from Sends command to slave triggers slave slave response 1 Not used Sets channel address to send command to 2 Gets returned data from slave Sets data byte to send to slave 3 Gets slave port status see Clears slave response bit see below below The status port is a bit field showing which slave port registers have been updated For the pur poses of this protocol Only bit 3 needs to be examined After sending a command the master can check bit 3 which is set when the slave writes to the response register At this point the response and returned data are valid and should be read before sending a new command Performing a dummy write to the status register will clear this bit so that it can be set by the next response Pin assignments for both the Rabbit
79. re float im bt COMPLEX mamed COMPLEX MILES distance declare variable of type MILES COMPLEX z zp declare variable of amp pointer to type COMPLEX Chapter 4 Language 25 Use typedef to create a meaningful name for a class of data Consider this example typedef unsigned int node void NodeInit node void NodeInit unsigned int This example shows many of the basic C constructs type name is informative not very informative Put descriptive information in your program code using this form of comment which can be inserted anywhere and can span lines The double slash comment shown below may be placed at the end of a line define SIZE 12 AME Gj Imp Hi float sumSquare int int void init Th main rilo eie 27 gies Ole tcf x sumSquare g h PECE se Bie 5 Hi void init f Va g 10 in amp SLAMS float sumSquare int a int b float temp temp a a b b return temp i and here is the end of the program A symbolic constant defined Declare global integers Prototypes for functions below Program starts here x is local tomain Call a void function x gets sumSquare value printf isa standard function Void functions do things but they return no value Here it uses the symbolic constant defined above Integer arguments Local variables Arithmetic statement Return va
80. registers will be changed Unpreserved registers in interrupt routines cause unpredictable and unrepeatable problems In con trast to normal functions interrupt functions are responsible for saving and restoring all registers themselves 142 Dynamic C User s Manual 12 Keywords A keyword is a reserved word in C that represents a basic C construct It cannot be used for any other purpose abandon Used in single user cofunctions abandon must be the first statement in the body of the cofunction The statements inside the curly braces will be executed only if the cofunction is forc ibly abandoned and if a call to loophead is made in main before calling the single user cofunction See Samples Cofunc Cofaband c for an example of abandonment handling abort Jumps out of a costatement for costate if condition abort Chapter 12 Keywords 143 align Used in assembly blocks the align keyword outputs a padding of nops so that the next instruc tion to be compiled is placed at the boundary based on VALUE asm align lt VALUE gt endasm VALUE can have any positive integer expression or the special operands even and odd The operand even aligns the instruction on an even address and odd on an odd address Integer expressions align on multiples of the value of the expression Some examples align odd This aligns on the next odd address align 2 Aligns on a 16 bit 2 byte boundary alig
81. root to xmem and xmem to root Large buffers used by Dynamic C libraries are already allocated from RAM in extended memory 268 Dynamic C User s Manual 18 uC OS II uC OS II is a simple clean efficient easy to use real time operating system that runs on the Rab bit microprocessor and is fully supported by the Dynamic C development environment It is an add on module that may be purchased from our website www zworld com uC OS II is capable of intertask communication and synchronization via the use of semaphores mailboxes and queues User definable system hooks are supplied for added system and configura tion control during task creation task deletion context switches and time ticks For more infor mation on uC OS IL please refer to Jean J Labrosse s book MicroC OS II The Real Time Kernel ISBN 0 87930 543 6 The data structures e g Event Control Block referenced in the Dynamic C uC OS II function descriptions are fully explained in Labrosse s book It can be pur chased at the Z World store www zworld com store home html or at http www ucos ii com The Rabbit version of uC OS II has the new features and API changes available in version 2 51 of uC OS II The documentation for these changes is included with Dynamic C in Samples UCos IT The file Newv251 pdf contains all of the features added since version 2 00 and Relv251 pdf contains release notes for version 2 51 18 1 Changes to pC OS II To take
82. s Manual 301 9 General Provisions No delay or failure to take action under this License will constitute a waiver unless expressly waived in writing signed by a duly authorized representative of Z WORLD and no single waiver will constitute a continuing or subsequent waiver This License may not be assigned sublicensed or otherwise transferred by You by operation of law or other wise without Z WORLD s prior written consent This License shall be governed by and con strued in accordance with the laws of the United States and the State of California exclusive of the conflicts of laws principles The United Nations Convention on Contracts for the Interna tional Sale of Goods shall not apply to this License If for any reason a court of competent jurisdiction finds any provision of this License or portion thereof to be unenforceable that provision of the License shall be enforced to the maximum extent permissible so as to affect the intent of the parties and the remainder of this License shall continue in full force and effect This License constitutes the entire agreement between the parties with respect to the use of the Software and its documentation and supersedes all prior or contemporaneous understandings or agreements written or oral regarding such subject matter There shall be no contract for pur chase or sale of the Software except upon the terms and conditions specified herein Any addi tional or different terms or conditions propo
83. site coset E SaN 159 Seg h inis iip reis sns 159 ine Pa Co O shared Peta d deat ete hide ett add ee Rattan b 159 cece cece c cece rere rere reese esses esses es eseseseseeeee SHON satis hi siise uin 160 PE seeeseeeeecenecsneesnneennecenecenatenneennetees 181 SIZE EEA E E EE E 160 oS Sane as 181 SVA PE E heii oa es 160 Ke oo cccsesceccecsessececceststcceseeeeecese 181 Speedin iiie i etken 160 Ea aad adi Ra E 161 lE ied na Sea 181 SUtI 161 MOE nssssssssssrsnrrenrnnrsnenesnenrsntennretnnt 181 SWItCH ooeecocccccccccecececccecccccccccceccccecces 162 SS eee eta ieee 181 typedef sceninio siose 162 DS e a ieas 181 LETADLO a EENES 163 R mT E OEE eee 182 WNSISNE sasesdoninisiainsisin 163 Az USCIK 33 ii E ects nares 163 Ge ge ee eg eee io AOUE nEn O AAEREN tise E 164 T R S I pe mee a E waitfordone 13 3 Bitwise Operators 0 0 0 eeeeeeereeeeee 182 Wid nnd eae aides 164 LE a E E nen 182 While sssssssssssssssssrssssrrrsssntrresrnrreens 164 Bernese e A 182 ba EF net inii 165 ee E 166 s E EE EE E ESS xstring miade Ne nianna cat E n a 167 eesossoosoosesosososesesesosososoosooosososososososeo yielded a ESE R Aa 167 E E E REE toa Bi 183 12 1 Compiler Directives 168 Pe a a e e ease eei 183 Has Maned e e 168 13 4 Relational Operators 00 0 eee 183 TICIASS cic ucesnsessstianeieianteoneetrneteneaeiert 168 ha Na Aad ara octets 183 debug Todo A ETNE Na 169 SE eis Aenean Ga aden a Pehl cy a taraaeeaRien cee 169 a A mney HONGASM O 169 gt
84. slice 500 20 slice a waitfor IntervalTick 80 slice 500 50 al slice b waitfor IntervalTick 105 time lerte 75 WOK WIMER Sieere Cne 5 if time_left gt 0 4 slice 500 75 TICK TIMER start_time slice c 5 10 Summary Although multitasking may actually decrease processor throughput slightly it is an important con cept A controller is often connected to more than one external device A multitasking approach makes it possible to write a program controlling multiple devices without having to think about all the devices at the same time In other words multitasking is an easier way to think about the sys tem Chapter 5 Multitasking with Dynamic C 65 66 Dynamic C User s Manual 6 The Virtual Driver Virtual Driver is the name given to some initialization services and a group of services performed by a periodic interrupt These services are Initialization Services e Call GLOBAL INIT e Initialize the global timer variables e Start the Virtual Driver periodic interrupt Periodic Interrupt Services e Decrement software virtual watchdog timers e Hitting the hardware watchdog timer e Increment the global timer variables e Drive uC OS II preemptive multitasking e Drive slice statement preemptive multitasking 6 1 Default Operation The user should be aware that by default the Virtual Driver starts and runs in a Dynamic C pro gram without the user doing anything This happen
85. soa The keyword wait fordone can be abbreviated to the keyword wfd must be inside a costate ment or cofunction Since a cofunction must be called from inside a wf d statement ultimately a wfd statement must be inside a costatement If only one cofunction is being called by wfd the curly braces are not needed The wfd statement executes cofunctions and firsttime functions When all the cofunctions and firsttime functions listed in the wfd statement are complete or one of them aborts exe cution proceeds to the statement following wfd Otherwise a jump is made to the ending brace of the costatement or cofunction where the wfd statement appears and when the execution thread comes around again control is given back to wfd In the example above x y and z must be set by return statements inside the called cofunc tions Executing a return statement in a cofunction has the same effect as executing the end brace In the example above the variable k is a status variable that is set according to the following scheme If no abort has taken place in any cofunction K is set to 1 2 n to indicate which cofunction inside the braces finished executing last If an abort takes place k is set to 1 2 n to indicate which cofunction caused the abort 5 5 2 1 Using the IX Register Functions called from within a cofunction may use the IX register if they restore it before the cofunction is exited which includes an exit via an incomplete
86. stack for the return value before pushing the last argument if any Dynamic C functions contain ing embedded assembly code may use a C return statement to return a value A stand alone assembly routine however must store the return value in the structure return space on the stack before returning Inline assembly code may access the stack area reserved for structure return values by the symbol RETVAL which is an offset from the frame reference point The following code shows how to clear field 1 of a structure as a returned value of type struct s typedef struct ss we EOF first field char fl second field ee aise xyz my struct my Struct Tume xyz func Cia asm xor a clear register A ld hl SP RETVAL ss f1 hl lt the offset from SP to the f1 field of the returned structure L add hl sp hl now points to fl ld hl a load a now 0 to fl endasm It is crucial that SP be added to RETVAL because RETVAL is an offset from the frame refer ence point not from the current SP 134 Dynamic C User s Manual 11 6 Assembly Calling C A program may call a C function from assembly code To make this happen set up part of the stack frame prior to the call and unwind the stack after the call The procedure to set up the stack frame is described here 1 ON ay En aa 7 Save all registers that the calling function wants to preserve A called C function may chan
87. the compilation uses a defined target configuration that is when the Default Compile Mode on the Compiler tab is set to Compile defined target configuration to bin file and Compile or Compile to bin file is chosen from the Compile menu If you save to the list of board configurations by clicking on the button Update Board Selection then you must fill in all fields of the dialog The baud rate calculated from the value in the Base Frequency MHz field only applies to debugging The fastest baud rate for downloading is negotiated between the PC and the target To save to an RTI file only requires an entry in the CPU field Please see Technical Note 231 for information on the specifics of the Rabbit CPU revisions The correct choice for the CPU field is found on the chip itself The information is printed on the 3rd line from the top on the Rabbit 2000 and the 2nd line from the top on the Rabbit 3000 The Rabbit 2000 revision is IQ T where is the revision number and the letters are associated information The Rabbit 3000 revision is IL T or IZ T where is the revision number and the letters are associated information IT 2000 RABE 8 0003 1 RIS 00568 IQ5T B 0234 AT56C55 ILIT 7 DOE4946AA RABBIT 3000 ATS6C5S5 IZIT 0209 2G4993A RABBIT 3000 0230 232 Dynamic C User s Manual Toolbars Selecting this menu item reveals a list of all menu button groups i e the groups of icons that appear in toolb
88. then evaluated and becomes the result of the operation This example shows somewhat complex initialization and stepping in a for statement for i 0 j strlen s 1 i lt j i j Because of the comma operator the initialization has two parts 1 set i to 0 and 2 get the length of string s The stepping expression also has two parts increment i and decrement j The comma operator exists to allow multiple expressions in loop or if conditions The table below shows the operator precedence from highest to lowest All operators grouped together have equal precedence Table 13 1 Operator Precedence Operators Associativity Function O D gt left to right member os EA P eee right to left unary left to right multiplicative left to right additive lt lt gt gt left to right bitwise lt lt gt gt left to right relational IE left to right equality amp left to right bitwise 7 left to right bitwise left to right bitwise amp amp left to right logical left to right logical 23 right to left conditional ee i right to left assignment comma left to right series Chapter 13 Operators 189 190 Dynamic C User s Manual 14 Graphical User Interface Dynamic C can be used to edit source files compile and run programs and choose options for these activities using pull down menus or keyboard shortcuts There are two modes e
89. timer interrupt completes the flow of control is passed to the statement directly following the slice statement A similar set of events takes place when the slice statement does an explicit yield abort waitfor Chapter 5 Multitasking with Dynamic C 63 5 9 5 1 Example 1 Two slice statements and a costatement will appear to run in parallel Each block will run inde pendently but the slice statement blocks will suspend their operation after 20 ticks for slice_aand 40 ticks for slice_b Costate a will not release control until it either explicitly yields aborts or completes In contrast slice a will run for at most 20 ticks then slice _b will begin running Costate a will get its next opportunity to run about 60 ticks after it relinquishes control Maas 4 HIME Bp Wy BP row Maa 4 costate a slicel500 20 4 M elice a slice 500 40 4 elice b 5 9 5 2 Example 2 This code guarantees that the first slice starts on TICK_TIMER evenly divisible by 80 and the second starts on TICK_TIMER evenly divisible by 105 main eve Gellert costate slice 500 20 i elice a waitfor IntervalTick 80 slice 500 50 i 7 elice is waitfor IntervalTick 105 64 Dynamic C User s Manual 5 9 5 3 Example 3 This approach is more complicated but will allow you to spend the idle time doing a low priority background task main ine eime lert long start_time FOr Jey Sica cine WICK WIM
90. to bin file using attached target a program is compiled and the image written to a bin file using the parameters of the attached controller In line I O If checked the built in I O functions WrPortI RdPortI BitWrPortI and BitRdPortI will have efficient inline code generated instead of function calls if all arguments are constants with the exception of the 3rd parameter of Bit WrPortI and WrPortI which may be any valid expression If this box is checked but a call to one of the aforementioned functions is made with non constant arguments with the exception of the 3rd parameter for the 2 write functions then a normal function call is generated Advanced Button Click on this button to reveal the Advanced Compiler Options dialog The options are Default Project Source File Use this option to set a default source file for your project If this box is checked then when you compile the source file named here will be used and not the file that is in the active editor window If the file named here is not open it will be opened into a new editor window which will be the new active editor window 226 Dynamic C User s Manual User Defined BIOS File Use this option to change from the default BIOS to a user specified file Enter or select the file using the browse button text box underneath this option The check box labeled use must be selected or else the default file BIOS defined in the system registry will
91. to use for the file are defined This association remains until the file is deleted The default LX for both data and metadata is the flash device LX 1 if it exists otherwise the RAM LX If both flash and RAM are available LX 1 is the flash device and LX 2 is the RAM When creating a file the associated logical extents for the data and the metadata can be changed from the default by calling fs set 1x This functions takes two parameters one to specify the LX for the metadata and the other to specify the LX for the data Thereafter all created files are associated with the specified LXs until a new call to fs_set_1x is made Typically there will be a call to fs __set_1x before each file is created in order to ensure that the new file gets created with the desired associations The file creation function fcreate may be used to specify the LX for the metadata by providing a valid LX number in the high byte of the func tion s second parameter This will override any LX number set for the metadata in fs set _1x 10 4 2 1 1 Further Partitioning The initial default logical extents can be divided further This must be done before calling fs_init The function to create sub partitions is called s_ setup This function takes an existing LX number divides that LX according to the given parameters and returns a newly created LX number The original partition still exists but is smaller because of the division For example
92. toolbar Choose a button group on the left side of the win dow this causes the icons for the buttons in that group to display on the right side of the window Click and drag an icon from the right side of the window to the desired but ton group on the toolbar Open a file Save current file Save All Edited Files Create a new project with factory sett Open Project Save Project Save Project As Help Close To remove an icon from its button group click and drag the icon off the toolbar or to another button group on the toolbar The Customize Menu Buttons window must be open to change the position of an icon on the toolbar Chapter 14 Graphical User Interface 233 14 2 7 Window Menu Click the menu title or press lt Alt W gt to display the Window menu Window Help Minimize r Restore gt Close e Cascade Tile Horizontally T Tile Vertically Arange Icons Pa Compiler Messages D ebu g Windows i Information 1 E DC 8 SAMPLES DEMO1 C Ek Stdio A Assembly F10 R Register F11 S Stack F12 You can choose to minimize restore or close all open win dows or just the open debug win dow or just the open editor windows The second group of items is a set of standard Win dows commands that allow the application windows to be arranged in an orderly way The Compiler Messages option is a toggle for displaying that win dow This is only available if an error or
93. using different defines displaying up to 50 warnings and capture all output to one file with a header for each run dccl_ cmp myProgram c d MAXCOUNT 99 nw 50 h o myOutput txt dccl_ cmp myProgram c d MAXCOUNT 15 nw 50 h oa myOutput txt dccl_ cmp myProgram c d MAXCOUNT 15 d DEF1 nw 50 h oa myOutput txt The first run could have used the oa option if myOutput txt were known to not initially exist myProgram c presumably uses a constant MAXCOUNT and contains one or more com piler directives that react to whether or not DEF 1 is defined 258 Dynamic C User s Manual 16 Project Files In Dynamic C a project is an environment that consists of opened source files a BIOS file avail able libraries and the conditions under which the source files will be compiled Projects allow dif ferent compilation environments to be separately maintained 16 1 Project File Names A project maintains a compilation environment in a file with the extension dcp 16 1 1 Factory dcp The environment originally shipped from the factory is kept in a project file named factory dcp If Dynamic C cannot find this file it will be recreated automatically in the Dynamic C exe path The factory project can be opened at any time and the environment changed and saved to another project name but factory dcp will not be changed by Dynamic C 16 1 2 Default dcp This default project file is originally a copy of factory dcp and will be automatica
94. wait fordone statement In the case of an application that uses the useix directive the IX register will be corrupted when any stack variable using function is called from within a cofunction or if a stack variable using function contains a call to a cofunction 5 5 3 CoData Structure The CoData structure discussed in Section 5 4 1 applies to cofunctions each cofunction has an associated CoData structure 5 5 4 Firsttime Functions The firsttime functions discussed in Firsttime Functions on page 53 can also be used inside cofunctions They should be called inside a wait for statement If you call these functions from inside a w d statement no compiler error is generated but since these delay functions do not yield while waiting for the desired time to elapse but instead return 0 to indicate that the desired time has not yet elapsed the wf d statement will consider a return value to be completion of the firsttime function and control will pass to the statement following the wfd Chapter 5 Multitasking with Dynamic C 55 5 5 5 Types of Cofunctions There are three types of cofunctions simple indexed and single user Which one to use depends on the problem that is being solved A single user indexed cofunction is not valid 5 5 5 1 Simple Cofunction A simple cofunction has only one instance and is similar to a regular function with a costate taking up most of the function s body 5 5 5 2 Indexed Cofunction An indexe
95. will allocate the blocks consis tently from the same physical address if done at the beginning of the program and the program is not recompiled Chapter 17 Hints and Tips 265 17 3 Root Memory Reduction Tips Customers with programs that are near the limits of root code and or root data space usage will be interested in these tips for saving root space For more help see Technical Note TN238 Rabbit Memory Usage Tips This document is available on our website www zworld com and also by choosing Online Documentation from within the Help menu of Dynamic C 17 3 1 Increasing Root Code Space Increasing the available amount of root code space may be done in the following ways e Enable Separate Instruction and Data Space A hardware memory management scheme that uses address line inversion to double the amount of logical address space in the base and data segments is enabled on the Com piler tab of the Options Project Options dialog Enabling separate I amp D space doubles the amount of root cod and root data available for an application program e Use memmap xmem This will cause C functions that are not explicitly declared as root to be placed in xmem Note that the only reason to locate a C function in root is because it modifies the XPC register in embedded assembly code or it is an ISR The only performance dif ference in running code in xmem is in getting there and returning It takes a total of 12 additional ma
96. 00 204 BOG Geese deat 34 153 195 lt ALT F4 gt ADOT sosssssssssesessrerssessssscsee 143 pan E EEE 195 quitting Dynamic C 193 align sesssssosssesecsesereenssnsosee R lt ALT F9 gt alWays_on oo eee 144 H Run w No Polling 199 anymem essecseesesceeeeseees 144 lt ALT H gt ASM ihe ise Ak 145 hard breakpoints 0 200 auto 145 select Help menu Rn 238 eee eee ee eee eee header bbram 145 2 lt ALT O gt eee eee eee ee FUNCTION oo ee eee cere 43 n A 146 module sseeerreeesees 39 40 41 T E E A EAE 146 Help Menu esseeeseeeeeseeee 238 i ee ene r std vests A 146 hexadecimal integer 21 redoing changes 194 char 147 lt ALT W gt eee ee eee eee eee Hi ks 127 132 133 135 s const 123 select Window menu 0234 yee eee aey ea eee Home k6y v reicinn 191 continue 149 5 OR lt CTRL F 1 0 gt eee eee eee eee eee horizontal tiling ee 234 A costate 149 Disassemble at Cursor 202 eee ee eee lt CTRL F2 gt dEDUE heata 149 Reset Program s u 200 defa lt sccscis csccsssesceesscisess 150 icons lt CTRL G gt dO c2e5 EE E TEE 150 arranged nusser 234 Os a a 195 ElSe i eieaa 150 IEEE floating point 152 lt CTRL H gt ENUT pieier Cna Eee ES 151 UE EAEE NE OEA 150 Library Help lookup 238 cater Sesaistonchcnspoesssseenseces es 151 multichoice e cece sees 35 lt CTRL N gt firsttime ie 152 simple PONIEC TIIE E 34 NEXt ETTO kfar 196 float woo eeeeeeee
97. 0x40 0x41 0x42 endasm the bytes are placed somewhere in the instruction space If separate I amp D space is disabled the default condition the bytes are placed in the base segment aka root segment interspersed with code Therefore so that data will be treated as data when referenced in assembly code the const key word must be used when separate I amp D space is enabled For example this won t work correctly without const asm const label db Ox5a endasm main asm ld a label 1d Ox5a to rega endasm The assembly language keyword dw defines 16 bit words least significant byte first The keyword dw should be followed immediately by numerical values dw 0x0123 OXFFFF xyz This example defines three constants The first two constants are literals and the third constant is the address of variable xyz The numerical values initialize sequential word locations starting at the current code address 124 Dynamic C User s Manual 11 2 3 Multiline Macros The Dynamic C preprocessor has a special feature to allow multiline macros in assembly code The preprocessor expands macros before the assembler parses any text Putting a at the end of a line inserts a new line in the text This only works in assembly code Labels and comments are not allowed in multiline macros define SAVEFLAG ld a j S push af pop bce asm ld b 0x32 SAVEFLAG endasm
98. 1 4 2 1 The Disassembled Code Window A program may be debugged at the assembly level by opening the Disassembled Code window Single stepping and breakpoints are supported in this window When the Disassembled Code window is open single stepping occurs instruction by instruction rather than statement by state ment The figure below shows the Disassembled Code window for the example code asm1 c Default Dynamic C Dist 8 00Beta2 Piel ES File Edit Compile Run Inspect Options Window Help Address Machine Code Opcode 1e09 D9 exx 1e0a 210000 lad ied CD7E1E call 1e10 EF rst asm1l c 7 ch 0x11 1e13 329EC3 la 1e16 EF rst asm1l c 8 i Ox2233 1e17 213322 la lela 229CC3 lad ieid EF rst asml c 9 J lg 0x44556677L ieie 117766 lad le2i 015544 lad 1e24 EDS5398C3 lad 1e28 ED4394C3 la le2ec EF rst asmi c 10 func ich i lg le2zd EDSB98C3 lad 1e31 ED4594AC3 1a 1e35 cs push 1e36 DS push 1e37 2a9CC3 lad lesa ES push 1e3b 2A9EC3 lad le3e 2600 la 1e40 ES push 1e41 CDSO1LE call 1644 oo nop 1e45 2708 add Figure 11 2 Disassembled Code Windows h1 0x0000 sspixffin_ 0x28 OxC39E a 0x28 hl 0x2233 Oxc39C hl 0x28 de 0x6677 bc 0x4455 OxC398 de OxC394 be 0x28 de 0x398 be 0xC394 be de hl OxC39C hl hl OxC39E h 0x00 hl func 3p 0x08 15 15 amp 13 13 10 10 11 10 11 4 10 12 2 4 Chapter 11 Using Assembly Language
99. 2000 and the Rabbit 3000 acting as a slave are as follows Table 7 3 Pin assignments for the Rabbit acting as a slave Pin Function PE7 SCS chip select active low to read write slave port PB2 SWR slave write assert for write cycle PB3 SRD slave read assert for read cycle PB4 SAO low address bit for slave port registers PBS SA1 high address bit for slave registers PB7 SLVATTN asserted by slave when it responds to a command cleared by master write to status register PAO PA7 slave port data bus For more details and read write signal timing see the Rabbit 2000 Microprocessor User s Manual or the Rabbit 3000 Microprocessor User s Manual 72 Dynamic C User s Manual 7 1 3 Polling and Interrupts Both the slave and the master can use interrupt or polling for the slave The parameter passed to SPinit determines which one is used In interrupt mode the developer can indicate whether the handler functions for the channels are interruptible or non interruptible 7 1 4 Communication Channels The Rabbit slave has 256 configurable channels available for communication The developer must provide a handler function for each channel that is used Some basic handlers are available in the library Slave Port 1ib These handlers will be discussed later in this chapter When the slave port driver is initialized a callback table of handler functions is set up Handler functions are added to th
100. 4 Keyword sinnn 149 UNION sescessesdsvcaethc naa 28 pragma oo eeeeeeeeeees 173 Memory dump weve 202 exit Dynamic C we 193 precompile 0 0 eee 173 moden sear A ea i nS 263 extended memory 4 133 166 undef o i 21 174 prevention osassa 199 asm blocks eeiseocseoceeseeee 127 HUSE EEO E 38 39 174 EERTE aoh on 101 DA t E E 41 151 FUSEIX EA EEE EE 174 Step OVEL aasin 199 F FWAIMS iien eeen 174 switching modes esses 196 HWAID sesessssssssssecsereseeensnn 174 trace into escscssssssesesseseeee 199 file ximp OTL erie apasat 175 update watch expressions 202 commands sses 192 zimp orr eae Seren ee 175 watchdog timers neeese 69 COMPFESSION 1 0 eee eee 291 line continuation 168 declarations cee 24 39 encryption 2 0 eeeeeeeeeeeeee 291 compound default t coepas cea ees 35 150 EXLENSIONS o sssssesceveeereeee 198 MAMES oerset reisini kente 18 Default Compile Mode 226 generated oponiendo 198 statements E E AS eg 23 demotion cccceeeseeceeeeeneee 224 MEDU renne D NE 192 CODES teen sateen aaah tae 291 disassemble PUNE eeiscesces ssevesse essere ects 193 concatenation of strings 22 at address sssseseeee 202 235 fille system essesssseen 109 119 Const See ge ee age 123 148 At CULSOF sabiinien nia 202 235 in primary flash 113 Continue sseerserern 33 149 162 do Tata shad ditistenatauien 32 in RAM noaoae 110 example Bina aa ope ia AON 33 dot operator oo 18 2
101. 7 3 Examples The rest of the chapter describes some useful handlers 7 3 1 Status Handler SPstatusHandler available in Slave port 1ib is an example of a simple handler to report the status of the slave To set up the function as a handler on slave port address 12 do the following SPsetHandler 12 SPstatusHandler amp status_ char Sending any command to this handler will cause it to respond with a 1 in the response register and the current value of status_char in the data return register 78 Dynamic C User s Manual 7 3 2 Serial Port Handler Slave_port 1ib contains handlers for all four serial ports on the slave Master serial 1ib contains code for a master using the slave s serial port handler This library illustrates the general case of implementing the master side of the master slave protocol 7 3 2 1 Commands to the Slave Table 7 4 Commands that the master can send to the slave Command Command Description 1 Transmit byte Byte value is in data register Slave responds with 1 if the byte was processed or 0 if it was not 2 Receive byte Slave responds with 2 if has put a new received byte into the data return register or 0 if there were no bytes to receive Combined transmit receive a combination of the transmit and receive 3 commands The response will also be a logical OR of the two command responses Set baud factor byte 1 LSB The actual baud rate is the baud factor 4 cas m
102. 7 max of files we 109 COPYINE SEA asec 194 downloading cee eeeesseeeeeeee 3 max file size oe 109 COSTAT ceases tea asi eatae eetan 149 dump window ee eeeeeees 203 multitasking 00 eee 110 costatements ssssesersseseer OO AW cecal sith ttftaslamctan 124 files abort a aac ines Mea ack ies 143 Dynamic C additional source 38 firsttime o ssssesesessevrssssovee 132 differences v n 4 36 Find Next lt F3 gt vse 195 keyword wssssssssssecsersreeessne 149 EE 193 firsttime sssssssssssssssssssssseeee 152 a 164 support files we 43 flash syntax E Cay ower te ae 49 dynamic storage allocation 28 file system eee eeeeeeeees 110 yields 167 at alived WatABIGS aet 5 curly braces wee 23 E USE_2NDFLASH CODE cursor 110 execution o 199 200 Edit MENU irns 194 viie ie 109 ee et una ene 107 304 Dynamic C User s Manual float snesen 25 152 165 MION iser eenei 154 lt CTRL P gt VALUES cn nodunerne in 21 inline Code 0 eee eee 226 previous error 195 for loopis 32 153 insertion point 194 195 lt CTRL U gt frame Inspect menu 201 235 Update Watch window 202 reference point 0 0 134 Instruction Set Reference 240 lt CTRL V gt reference pointer 132 133 INU e et 25 154 165 pasting text eseese 194 157 263 INCE GELS eoret e 21 lt CTRL W gt FUNCH ON i sssescoestsssesseus ins is 24 interrupts oe 136 142 Add Del Items 201 au
103. AM LX since it minimizes wasted space without incurring a performance penalty Larger LSs are better for bulk data such as logs If the flash physical sector size i e the actual hardware sector size is large it is better to use a correspondingly large LS size This is especially the case for byte writable devices Large LSs should also be used for large LXs This minimizes the amount of time needed to initialize the file system and access large files As a rule of thumb there should be no more than 1024 LSs in any LX The ideal LS size for RAM which is the default is 128 bytes 256 or 512 can also be reason able values for some applications that have a lot of spare RAM Sector writable flash devices require LS size PS size Byte writable devices however may use any allowable logical sector size regardless of the physical sector size Sample program Samples FileSystem FS2DEMO2 illustrates use of fs setup This sample also allows you to experiment with various file system settings to obtain the best perfor mance FS2 has been designed to be extensible in order to work with future flash and other non volatile storage devices Writing and installing custom low level device drivers is beyond the scope of this document however see FS2 LIB and FS_DEV LIB for hints 10 5 File Identifiers There are two ways to identify a particular file in the file system file numbers and file names 10 5 1 File Numbers The file number uniquely ide
104. Buffer to read received data into length Maximum number of bytes to read tmout Time to wait between received bytes before returning RETURN VALUE Number of bytes read into the data buffer LIBRARY SP_STREAM LIB Chapter 7 The Slave Port Driver 95 SPSwrite int SPSwrite SPSream stream void data int length DESCRIPTION This function transmits length bytes to slave port output buffer If the slave port is in poll ing mode this function will call SPt ick while waiting for the output buffer to empty This function is non reentrant PARAMETERS stream Pointer to the stream state structure data Bytes to write to stream length Size of write buffer RETURN VALUE Number of bytes written into the data buffer LIBRARY SP_STREAM LIB 96 Dynamic C User s Manual SPSwrFree int SPSwrFree DESCRIPTION Returns number of free bytes in the stream write buffer RETURN VALUE Space available in the stream write buffer LIBRARY SP_STREAM LIB SPSrdFree int SPSrdFree DESCRIPTION Returns the number of free bytes in the stream read buffer RETURN VALUE Space available in the stream read buffer LIBRARY SP_ STREAM LIB Chapter 7 The Slave Port Driver 97 SPSwrUsed int SPSwrUsed DESCRIPTION Returns the number of bytes currently in the stream write buffer RETURN VALUE Number of bytes currently in the stream write buffer LIBRARY SP_STREAM LIB SPSrdUsed int SPSr
105. CPIPSICMP LIB Function Description lt ICMP LIB gt SYNTAX int ping longword host longword sequence number KEYWORDS tepip icmp ping DESCRIPTION generate an ICMP request for host NOTE this is a macro which calls _send ping PARAMETER ip address to send ping PARAMETER2 user defined sequence number RETURN VALUE O successful 1 failed when sending packet 1 failed because could not resolve host hardware address SEE ALSO _chk_ping _send ping ping c Edit Browse Help Close If you click the Edit button the Function Description window will close and the library that contains the function that was in the window will open in an editor window The cursor will be placed at the function description of interest Clicking on the Browse button will open the Library Function Lookup window to allow you to search for a new function description Multiple Function Description windows may be open at the same time Chapter 14 Graphical User Interface 239 Instruction Set Reference Invokes an on line help system and displays the alphabetical list of instructions for the Rabbit 2000 microprocessor and the Rabbit 3000 microprocessor I O Registers Invokes an on line help system that provides the bit values for all of the Rabbit I O registers Keystrokes Invokes an on line help system and displays the keystrokes page Although a mouse or other pointing device may be convenient Dynamic C also supports ope
106. Check this option to show the cursor as a block when an editor is placed in overwrite mode 206 Dynamic C User s Manual Undo after save Check this option to enable undo operations after a file has been saved With this option unchecked the undo list for a file is erased each time the file is saved Group undo Check this option to undo changes one group at a time With this option unchecked each operation is undone individually Disable dragging Checking this option disables drag and drop operations i e the ability to move selected text by pressing down the left mouse button and dragging the text to a new location Center Bookmarks Check this option so that when you jump to a bookmark it is centered in the editor window Block indent The number of spaces used when a selected block is indented using lt Ctrl k i gt or unindented using lt Ctrl k u gt Tab stops This is a comma separated list of numbers which indicate the number of spaces per tab stop If only one number is entered say 3 then the first tab stop is 3 spaces as is each additional tab stop Every additional number in the list indicates the number of spaces for all subsequent tabs E g if the list consists of 3 6 12 the first tab stop is 3 spaces the second tab stop is 3 more spaces and all subsequent tab stops are 6 spaces Keymapping The keyboard has 5 different default key mappings Default Classic Brief Epsilon and Visual Studio Change
107. CompressedFile depending upon file size and compression ratio The zimport compiler directive performs a standard ximport but compresses the file by invoking the compression utility before emitting the file to the target Support libraries allow the compressed file to be decompressed on the fly Compression ratios of 50 or more for text files can be achieved thus freeing up valuable xmem space The compression library is thread safe For details on compression ratios memory usage and performance please see Technical Note 234 File Compression Using zimport available on our website at www zworld com Dynamic C User s Manual 291 C 2 1 Using the File Compression Utility The utility is invoked by Dynamic C during compile time when zimport is used The keyword zimport will compress any file Of course some files are already in a compressed format for example jpeg files so trying to compress them further is not useful and may even cause the result ing compressed file to be larger than the original file The original file is not modified by the compression utility nor by the support libraries The compression of FS2 files is a special case Instead of using zimport ximport is used along with the function CompressFile Compressed files are decompressed on the fly using ReadCompressedFile Compressed FS2 files may also be decompressed on the fly by using ReadCompressedFile In addi tion an FS2 file may be dec
108. DC 8 LIBSTCPIPSICMP LIB T j imal _prot_init in E DC 8 LIB SY S LIB HTTP LIB _prot_recover in E DC 8 LIB SY S LIB 12C LIB _send_ping in E DC 8 LIBS TCPIPMICMP LIB 12C_DEVICES LIB _syslsSoftReset in E DC 8 LIB SYS LIB ICMP LIB abs in E DC 8 LIB MATH LIB acos in E DC LIB MATH LIB _chk_ping acot in E DC 8 LIB MATH LIB _ping acsc in E DC 8 LIB MATH LIB ADS 7870Init in ESOC 8 SAMPLES SPINADS 7870 L1B 4D057870Read in E DC SSSAMPLESSSPINADS7870 L16 yi gt Help Cancel Choosing a function is done in one of several ways You may type the function name in the Function Search entry box Notice how both scroll areas underneath the entry box display the first function that matches what you type The functions to the left are listed alphabetically while those on the right are arranged in a tree format displaying the libraries alphabetically with their functions collapsed underneath You may scroll either of these two areas and have whatever you select in one area reflected in the other area and in the text entry box Click OK or press lt Enter gt to bring up the Function Description window _send_ping mm ICAR LID 238 Dynamic C User s Manual If the cursor is on a function when Help Function Lookup is selected or when lt Ctrl H gt is pressed then the Library Function Lookup dialog is skipped and the Function Description window appears directly gt pingin E DC 8 LIB T
109. DEMO1 C compile it using the Compile menu and then run it by selecting Run gt in the Run menu The keyboard shortcut lt F9 gt will compile and run the program You may also use the green triangle toolbar button as a substitute for lt F9 gt The value of the counter should be printed repeatedly to the Stdio window if everything went well If this doesn t work review the following points e The target should be ready indicated by the message BIOS successfully compiled If you did not receive this message or you get a communication error recompile the BIOS by typing lt Ctrl Y gt or select Reset Target Compile BIOS from the Compile menu 8 Dynamic C User s Manual e A message reports No Rabbit Processor Detected in cases where the wall transformer is not connected or not plugged in e The programming cable must be connected to the controller The colored wire on the program ming cable is closest to pin 1 on the programming header on the controller The other end of the programming cable must be connected to the PC serial port The COM port specified in the Communications dialog box must be the same as the one the programming cable is connected to The Communications dialog box is accessed via the Communications tab of the Options Project Options menu To check if you have the correct serial port press lt Ctrl Y gt If the BIOS successfully com piled message does not display choose a diffe
110. DIA PRINTED MATERIALS AND ONLINE OR ELECTRONIC DOCUMENTATION DOCUMENTATION YOU ON BEHALF OF YOURSELF OR AS AN AUTHORIZED REPRESENTATIVE ON BEHALF OF AN ENTITY AGREE TO ALL THE TERMS OF THIS END USER LICENSE AGREEMENT LICENSE REGARDING YOUR USE OF THE SOFTWARE IF YOU DO NOT AGREE WITH ALL OF THE TERMS OF THIS LICENSE DO NOT INSTALL COPY OR OTHERWISE USE THE SOFTWARE AND IMMEDIATELY CON TACT Z WORLD FOR RETURN OF THE SOFTWARE AND A REFUND OF THE PUR CHASE PRICE FOR THE SOFTWARE We are sorry about the formality of the language below which our lawyers tell us we need to include to protect our legal rights If You have any questions write or call Z World at 530 757 4616 2900 Spafford Street Davis California 95616 1 Definitions In addition to the definitions stated in the first paragraph of this document capital ized words used in this License shall have the following meanings 1 1 Qualified Applications means an application program developed using the Software and that links with the development libraries of the Software 1 1 1 Qualified Applications is amended to include application programs developed using the Softools WinIDE program for Rabbit processors available from Softools Inc 1 1 2 The MicroC OS II uC OS ID library and sample code released with any version of Dynamic C and the Point to Point Protocol PPP library released prior to Dynamic C version 7 32 are not included in this amendment 1 1 3 Ex
111. Default States 00 eee 241 15 2 User Input eee s 241 15 3 Saving Output to a File 241 15 4 Command Line Switches 242 Switches Without Parameters 242 Switches Requiring a Parameter 250 15 5 Examples iiris ooir irs 258 Example 1 oo eee iene 258 Example 2 onines 258 Example 3 0 cece eseeeeeseenees 258 16 Project Files morona 259 16 1 Project File Names eee 259 Active Project s es 259 16 2 Updating a Project File 260 16 3 Menu Selections eee 260 16 4 Command Line Usage 261 17 Hints and Tips 263 TALENI iepene 263 Nodebug Keyword cee 263 In lme Onine 264 17 2 Run time Storage of Data 0 264 User Block siririn 265 Flash File System ee 265 WriteFlash2 sseni 265 Battery Backed RAM 265 17 3 Root Memory Reduction Tips 266 Increasing Root Code Space 266 Increasing Root Data Space 268 18 WC OS2 ee deca asesk ca eehen chen neh 269 18 1 Changes to uC OS ID 269 Ticks per Second eee 269 Task Creation seias 270 Restrictions s ssesseeeseeeeeessreerrsresese 271 18 2 Tasking Aware Interrupt Service Routines TA ISR ceeeeeeeereeees 271 Interrupt Priority Levels 271 Possible ISR Scenarios 272 General Layout of a TA ISR 273 18 3 Library Reentrancy ee 277 18 4 How to Get a uC OS II Application R n g pessian 278 Default Configuration 278 Cust
112. EOTS T RS 195 abandon sessseessseeseseesesseesees 143 macro definitions 229 MEN teerien soeren 197 ADOTE saeecsseecsessesssneeeesnseesennsees 143 memory location 107 0 9 8 0 hesa 223 about Dynamic C sss0 240 memory settings 227 RAM oss 225 268 abstract data types 25 26 redefine a symbol in 172 speed siativacaucsainaiaeh 3 ade add with carry 121 variable defined in 151 Sia MG cae are ce tie 237 address Space 4 107 branching essen 34 35 to bin files2 05c gee 197 addresses in assembly WEG E sah aae dite Gattis 146 162 LO ASP EE 191 aggregate data types 27 eXAINPleceracinseeenies 33 t flasin 197 align se seessssesseessssecsssecessneesnes 144 keyword o ecccccsseecsssesssseesseee 33 to target veces 191 197 ALT key limitations 2 0 0 34 compiler See keystrokes out Of a LOOP ee eeeeeeeeeeee 33 line parsing limit 0000 23 always On oessssesessseeeesseeseen 144 out of a switch statement 33 compiler directives 168 ANYMEM oosseeecersesssssnssseeeeeeeee 144 breakpoints 131 157 199 202 HASM seeiis 121 168 264 application program 38 263 OPHlOnisee ede ees 168 Dynamic C User s Manual 303 Helasse 168 cutting text eee 194 Else aine a 150 Options ne 168 embedded assembly 3 128 133 debug 157 169 264 D 134 HACHNE siisii esis 19 169 data str
113. FF FF FF FF C 00 El F8 CF 42 E4 FS B CD 1F 1D CF Bl EB F8 C3 2C OO ED SE CF BA EZ F8 a ED 46 3E 80 32 44 C6 CF F6 El F8 C3 77 1D FD 21 F gt 29 w o 11 cs 100022 FF 00 CB 7F 28 05 CD B9 11 18 18 CB SF 28 05 CD 74 14 18 OF 3A 3B C8 B7 28 05 CD 74 i t i t l4 18 04 D3 32 C3 00 C9 ED 76 FS 08 FS ED 77 FS 2 v w C5 DS ES DD ES FD E5 D9 CS DS ES CD 4E OO El Dl N Cl DS FD El DD El El Dl Cl Fl ED 67 Fl 08 Fl ED g 7E ED SD C3 D3 3A C3 00 CB 7F C8 D3 3A CO 00 C9 3E 07 D3 32 C3 00 C9 D3 3A C3 00 CB SF CO 79 D3 32 CO 00 C9 44 79 6E 61 6D 69 43 55 GE 69 76 65 2 Y gt Z DynamiCUnive 72 73 61 6C 20 SZ 61 62 62 69 74 20 42 49 4F 53 rsal Rabbit BIOS 20 56 65 72 73 69 6F 6E 20 37 2E 33 32 3B ED 54 Version 7 32 T 6F 7C ED 67 7D ED 54 33 33 C9 FS 3E SA D3 32 08 o g T33 gt Z 2 00 Fl C9 CF 68 EA F8 C9 FS 3A E4 CS CB E CB EF h 32 E4 CS 3A ES CS CB 97 CB EF CB C 32 ES CS 3E 2 2 gt The Memory Dump window may be scrolled Scrolling causes the contents of other memory addresses to appear in the window Hotkeys ArrowUp ArrowDown PageUp PageDown are active in the Memory Dump window The window always displays as many lines of 16 bytes and their ASCII equivalent as will fit in the window Values in the Dump window are updated automatically either when Dynamic C stops or comes to a breakpoint Updates only occur if the window is updateable This can be set either by right clicking in the Memory Dump window and toggling the updateable me
114. ISR All registers including alternates are saved when an interrupt function is called and restored when the interrupt function returns Writ ing ISRs in C is never recommended especially when timing is critical interrupt isr An interrupt service routine returns no value and takes no arguments Chapter 12 Keywords 155 interrupt vector This keyword intended for use with separate I amp D space sets up an interrupt vector at compile time This is its syntax interrupt vector lt INT_VECTOR NAME gt lt ISR_NAME gt A list of INT_VECTOR_NAMEs and ISR_NAMEs is found in Table 11 5 on page 141 The fol lowing code fragment illustrates how interrupt vector is used Set up an Interrupt Service Routine for Timer B asm timerb_isr ISR code ret endasm main Variables Setup ISR interrupt vector timerb_intvec timerb_isr Compile time setup Code interrupt vector overrides run time setup For run time setup you would replace the interrupt_vector statement above with xrcodorg lt INT VEC NAME gt apply asm INTVEC RELAY SETUP timerb intvec TIMERB OFS endasm rcodorg rootcode resume This results in a slower interrupt 80 clock cycles are added but an interrupt vector that can be modified at run time Interrupt vectors that are set up using interrupt vector are fast but can t be modified at run time since they are set at compile time long Declares variables fun
115. Interrupts 73 Communication Channels 73 7 2 FUNCUONS inna nann 73 TiS Examples irin 78 Status Handler ee eeeeesceeeeees 78 Serial Port Handler 79 Byte Stream Handler ee 92 8 Run Time Errors 0 0 0 eeeeeeeseeeeeeeeees 101 8 1 Run Time Error Handling 101 Error Code Ranges ee 101 Fatal Error Codes eeeeeeeeeeeee 102 8 2 User Defined Error Handlet 103 Replacing the Default Handler 103 8 3 Run Time Error Logging 104 Error Log Buffer 104 Initialization and Defaults 105 Configuration Macros 105 Error Logging Functions 106 Examples of Error Log Use 106 9 Memory Management eee 107 9 1 Memory Map 107 Memory Mapping Control 108 9 2 Extended Memory Functions 108 Code Placement in Memory 108 10 The Flash File System eee 109 10 1 General Usage eee eee 109 Maximum File Size eee 109 Two Flash Boards eseeeeeeeee 110 Using SRAM oseere 110 Wear Leveling eects 110 Low Level Implementation 110 Multitasking and the File System 110 10 2 Application Requirements 111 Library Requirements 111 FS2 Configuration Macros 111 FS2 and Use of the First Flash 113 10 3 File System API Functions 114 FS2 API Error Codes 0 115 10 4 Setting up a
116. LL terminated string containing the regis ter dump in errLogEntry errlogFormatStackDump Returns a NULL terminated string containing the stack dump in errLogEntry errlogReadHeader Reads error log header into the structure errlog Info ResetErrorLog Resets the exception and restart type counts in the error log buffer header 8 3 5 Examples of Error Log Use To try error logging follow the instructions at the top of the sample programs samples ErrorHandling Generate runtime errors c and samples ErrorHandling Display errorlog c 106 Dynamic C User s Manual 9 Memory Management Processor instructions can specify 16 bit addresses giving a logical address space of 64K 65 536 bytes Dynamic C supports a 1M physical address space 20 bit addresses An on chip memory management unit MMU translates 16 bit addresses to 20 bit memory addresses Four MMU registers SEGSIZE STACKSEG DATASEG and XPC divide and main tain the logical sections and map each section onto physical memory Any memory beyond the 16 bit address capability of the processor whether flash or RAM is called xmem and requires memory management techniques for access In general xmem flash access for program space is transparent to the user but xmem accesses to RAM are not 9 1 Memory Map A typical Dynamic C memory mapping of logical and physical address space is shown in the fig ure below The actual layout may be different depending on board type and
117. N OF IMPLIED WARRANTIES SO THE ABOVE EXCLUSION MAY NOT APPLY TO YOU 7 Limitation of Liability YOU AGREE THAT UNDER NO CIRCUMSTANCES INCLUD ING NEGLIGENCE SHALL Z WORLD BE LIABLE FOR ANY INCIDENTAL SPECIAL OR CONSEQUENTIAL DAMAGES INCLUDING DAMAGES FOR LOSS OF BUSINESS PROFITS BUSINESS INTERRUPTION LOSS OF BUSINESS INFORMATION AND THE LIKE ARISING OUT OF THE USE AND OR INABILITY TO USE THE SOFTWARE EVEN IF Z WORLD OR ITS AUTHORIZED REPRESENTATIVE HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES SOME JURISDICTIONS DO NOT ALLOW THE LIMITATION OR EXCLUSION OF LIABILITY FOR INCIDENTAL OR CONSE QUENTIAL DAMAGES SO THE ABOVE LIMITATION OR EXCLUSION MAY NOT APPLY TO YOU IN NO EVENT SHALL Z WORLDS TOTAL LIABILITY TO YOU FOR ALL DAMAGES LOSSES AND CAUSES OF ACTION WHETHER IN CONTRACT TORT INCLUDING NEGLIGENCE OR OTHERWISE EXCEED THE AMOUNT PAID BY YOU FOR THE SOFTWARE 8 Termination This License is effective for the duration of the copyright in the Software unless terminated You may terminate this License at any time by destroying all copies of the Software and its documentation This License will terminate immediately without notice from Z WORLD if You fail to comply with any provision of this License Upon termination You must destroy all copies of the Software and its documentation Except for Section 2 License all Sections of this Agreement shall survive any expiration or termination of this License Dynamic C User
118. RAM is required for this operation main protected int statel state2 state3 _sysIsSoftReset restore any protected variables The callto_sysIsSoftReset checks to see if the previous board reset was due to the com piler restarting the program i e a soft reset If so then it initializes the protected variable flags and calls sysResetChain a function chain that can be used to initialize any protected vari ables or do other initialization If the reset was due to a power failure or watchdog time out then any protected variables that were being written when the reset occurred are restored A system that shares data among different tasks or among interrupt routines can find its shared data corrupted if an interrupt occurs in the middle of a write to a multibyte variable such as type int or float The variable might be only partially written at its next use Declaring a multibyte variable shared means that changes to the variable are atomic i e interrupts are disabled while the variable is being changed You may declare a multibyte variable as both shared and protected return Explicit return from a function For functions that return values this will return the function result void func if expression return float func int x float temp return temp 10 1 158 Dynamic C User s Manual root Indicates a function is to be placed in root memory This keyword is semantically mean
119. STER_SERIAL LIB Chapter 7 The Slave Port Driver 89 MSwrite int MSwrite char address char data int length DESCRIPTION Sends an array of bytes out the serial port on the slave behaves like serXwrite PARAMETERS address Slave channel address of serial handler data Array of bytes to send length Size of array RETURN VALUE Number of bytes actually sent LIBRARY MASTER SERIAL LIB 90 Dynamic C User s Manual 7 3 2 4 Sample Program for Master This sample program Samples SlavePort master_demo c treats the slave like a serial port use master serial 1lib define SP CHANNEL 0x42 chart const test str Hello There main char buffer 100 int read_length MSinit 0 comment this line out if talking to a stream handler printf open returned 0x x n MSopen SP CHANNEL 9600 while 1 costate wfd cof MSwrite SP_ CHANNEL test str strlen test_str wfd cof MSwrite SP_ CHANNEL test str strlen test_str costate wfd read_length cof MSread SP_ CHANNEL buffer 99 10 if read_length gt 0 buffer read_ length 0 null terminator printf Read s n buffer else if read_length lt 0 printf Got read error d n read length printf wrfree d n MSwrFree SP_ CHANNEL Chapter 7 The Slave Port Driver 91 7 3 3 Byte Stream Handler The library SP_STREAM LIB implements a byte stream ov
120. TH SIZe Chapter 11 Using Assembly Language 125 11 2 6 C Variables C variable names may be used in assembly language What a variable name represents the value associated with the name depends on the variable For a global or static local variable the name represents the address of the variable in root memory For an auto variable or formal argument the variable name represents its own offset from the frame reference point The following list of processor register names are reserved and may not be used as C variable names in assembly A B C D E F H L AF HL DE BC IX TY SP PC XPC IP IIR and EIR Both upper and lower case instances are reserved The name of a structure element represents the offset of the element from the beginning of the structure In the following structure for example struct s WNE SRA Inte y aie Ap E the embedded assembly expression s x evaluates to 0 s y evaluates to 2 and s z evaluates to 4 regardless of where structure s may be In nested structures offsets can be composite as shown here struct s LAE 3p 8 x 0 struct af sta 2 aime 19 a b 0s a b 2 int c f f atea yta ES ie pe 126 Dynamic C User s Manual 11 3 Stand Alone Assembly Code A stand alone assembly function is one that is defined outside the context of a C language func tion A stand alone assembly function has no auto variables and no forma
121. The default storage class is auto 168 Dynamic C User s Manual debug nodebug Enables or disables debug code compilation debug is the default condition These directives override the debug and nodebug keywords used on function declarations or assembly blocks nodebug prevents RST 28h instructions from being inserted between C statements and assem bly instructions NOTE These directives do nothing if they are inside of a function This is by design They are meant to be used at the top of an application file define Syntax define name text or define name parameters text Defines a macro with or without parameters according to ANSI standard A macro without param eters may be considered a symbolic constant Supports the and macro operators Macros can have up to 32 parameters and can be nested to 126 levels endasm Ends a block of assembly code fatal Syntax fatal Instructs the compiler to act as if a fatal error The string in quotes following the directive is the message to be printed Chapter 12 Keywords 169 GLOBAL INIT Syntax GLOBAL INIT variables GLOBAL INIT sections are blocks of code that are run once before main is called They should appear in functions after variable declarations and before the first executable code If a local static variable must be initialized once only before the program runs it should be done in a GLOBAL INIT section but other inititial
122. Then ptr_to_i and i have identical values Note that ptr_to_iand i do not have the same values because ptr_to_i isa pointer and i is an int Note also that has two meanings not counting its use as a multiplier in others contexts in a variable declaration such as int ptr_to_i the means that the variable will be a pointer type and in an executable statement j ptr_ to _i means the value stored at the address contained inptr_to_i Pointers may point to other pointers UGE yee CO hp SLIME MOET EG jOieIe EO ap int i j jE CO i Giz Set pointer equal to the address of i ptr_to ptr to i amp ptr_to i Seta pointer to the pointer tothe address of i i LO Assign a value to i J Seer EO joes tO i This sets j equal to the value in i It is possible to do pointer arithmetic but this is slightly different from ordinary integer arithmetic Here are some examples Ploare iLO a rs an array and some ptrs p amp f point p to array element 0 q pt5 point q to array element 5 q point q to array element 6 D jo Gis illegal Because the float is a 4 byte storage element the statement q p 5 sets the actual value of q to p 20 The statement q adds 4 to the actual value of q If were an array of 1 byte charac ters the statement q adds 1 to q Chapter 4 Language 29 Beware of using uninitialized pointers Uninitialized pointers can reference ANY location
123. Watches window Update Watch Window lt Ctrl U gt Forces expressions in the Watches window to be evaluated If the target is running nodebug code the Watches window will not be updated and the PC will lose communication with the target Inserting an RST 028h instruction into frequently executed nodebug code will allow the watch window to be updated while running in nodebug code Normally the Watch window is updated every time the execution cursor is changed that is when a single step a breakpoint or a stop occurs in the program Evaluate Expression Brings up the Evaluate Expression dialog where you can enter a single expression in the Expression dialog The result is displayed in the Result text box when Evaluate is clicked Multiple Evaluate Expression dialogs can be active at the same time Disassemble at Cursor lt Ctrl F10 gt Loads disassembles and displays the code at the current editor cursor location This command does not work in user application code declared as nodebug Also this command does not stop the execution on the target Disassemble at Address lt Alt F10 gt Brings up the Disassemble at Address dialog where you can enter an address at which to begin disassembly The format of the address is either the logical address specified as a hex number Oxnnnn or just nnnn or as an xpc offset pair separated by a colon nn mmmm The Disassembled Code window displays the result See Assembly on page 235 for details a
124. a SS body executesif i gt j OK a gt b truewhen a gt b 13 5 Equality Operators Equal This binary relational operator yields a Boolean value The result is 1 if the left operand equals the right operand and 0 otherwise ce a s i body executesif i j OK a b truewhen a b Note that the operator is not the same as the assignment operator A common mistake is to write if i j body Here i gets the value of j and the if condition is true when i is non zero not when i equals j Not equal This binary relational operator yields a Boolean value The result is 1 if the left oper and is not equal to the right operand and 0 otherwise if i t j body executesif i j OK a b truewhen a b 184 Dynamic C User s Manual 13 6 Logical Operators Logical AND This is a binary operator that performs the Boolean AND of two values If either operand is 0 the result is 0 FALSE Otherwise the result is 1 TRUE Logical OR This is a binary operator that performs the Boolean OR of two values If either oper and is non zero the result is 1 TRUE Otherwise the result is 0 FALSE Logical NOT This is a unary operator Observe that C does not provide a Boolean data type In C logical false is equivalent to 0 Logical true is equivalent to non zero The NOT operator result is 1 if the operand is 0 The result is 0 otherwise test get _input if t
125. ain without the programming cable attached is a new deployment 8 3 3 Configuration Macros These macros are defined at the top of Bios RabbitBios c ENABLE_ERROR_LOGGING Default 0 Disables error logging Changing this to one in the BIOS enables error logging ERRLOG_USE_REG_DUMP Default 1 Include a register dump in log entries Changing this to zero in the BIOS excludes the register dump in log entries ERRLOG_STACKDUMP_SIZE Default 16 Include a stack dump of size ERRLOG_STACKDUMP_ SIZE in log entries Changing this to zero in the BIOS excludes the stack dump in log entries ERRLOG_NUM_ENTRIES Default 78 This is the number of entries allowed in the log buffer ERRLOG_USE_MESSAGE Default 0 Exclude error messages from log entries Changing this to one in the BIOS includes error messages in log entries The default error handler makes no use of this feature Chapter 8 Run Time Errors 105 8 3 4 Error Logging Functions The run time error logging API consists of the following functions errlogGetHeaderInfo Reads error log header and formats output errlogGetNthEntry Loads errLogEntry structure with the Nth entry from the error log buffer errLogEntry is a pre allo cated global structure errlogGetMessage Returns a NULL terminated string containing the 8 byte error message in errLogEntry errlogFormatEntry Returns a NULL terminated string containing basic information in errLogEntry errlogFormatRegDump Returns a NU
126. amic C 7 30 interrupt vector code could be modified directly By reading the internal and external interrupt registers IIR and EIR the location of the vector could be calculated and then written to because it was located in RAM This method will not work if separate I amp D space is enabled because the vectors must be located in flash To accommodate separate I amp D space the way interrupt vectors are set up and modified has changed slightly Please see the Rabbit 3000 Designer s Handbook for detailed information about how the interrupt vectors are set up This sec tion will discuss how to modify the interrupt vectors after they have been set up For backwards compatibility modifiable vector relays are provided in RAM In C they can be accessed through the SetVectIntern and Set VectExtern functions In assembly they are accessed through INTVEC_BASE lt vector offset gt or XINTVEC_BASE lt vector offset gt The values for lt vector offset gt are defined in sysio 1ib and are listed here for convenience Table 11 3 Internal Interrupts and their offset from INTVEC_BASE PERIODIC OFS SERA_OFS RST10_OFS SERB OFS RST18_OFS SERC_OFS RST20_OFS SERD_OFS RST28_ OFS SERE_OFS RST38_OFS SERF_OFS SLAVE OFS QUAD_OFS TIMERA OFS INPUTCAP OFS TIMERB OFS Table 11 4 External Interrupts and their offset from XINTVEC_BASE EXTO OFS EXT1_OFS Chapter 11 Using Assemb
127. amming cable provided in all Rabbit product development kits This method has numerous advantages e A socketed flash is no longer needed BIOS updates can be made without a flash EPROM burner since Dynamic C can communicate with a target that has a blank flash EPROM Blank flash EPROM can be surface mounted onto boards reducing manufacturing costs for both Z World and other board developers BIOS updates can then be made available on the Web e Advanced users can see and modify the BIOS kernel directly e Board developers can design Dynamic C compatible boards around the Rabbit CPU by simply following a few simple design guidelines and using a skeleton BIOS provided by Z World e A major feature is the ability to program and debug over the Internet or local Ethernet This requires the use of a RabbitLink board available alone or as an option with Rabbit based devel opment kits 6 Dynamic C User s Manual 3 Quick Tutorial Sample programs are provided in the Dynamic C Samples folder similar to the one shown below Look in a Samples z c AES Encryption L dmtarget Gps dmunit 2c DOWN_LOAD Elcom CJ EroH andling i Intrupts Fft ackrab FileSystem LCD_Keypad File name Files of type c Source c x Cancel The subfolders contain sample programs that illustrate the use of the various Dynamic C librar ies E g the subfolders Cofunc and Costate have sample programs illustrating the use of
128. and the statement following the wait for can be as much as the granularity 30 to 35 ms The routine may also be interrupted by higher priority tasks or interrupt routines increasing the variation in delay The consequences of such variations in the time between steps depends on the program s objec tive Suppose that the typical delay between an event and the controller s response to the event is 60 Dynamic C User s Manual 25 ms but under unusual circumstances the delay may reach 50 ms An occasional slow response may have no consequences whatsoever If a delay is added between the steps of a process where the time scale is measured in seconds then the result may be a very slight reduction in throughput If there is a delay between sensing a defective product on a moving belt and activating the reject solenoid that pushes the object into the reject bin the delay could be serious If a critical delay cannot exceed 40 ms then a system will sometimes fail if its worst case delay is 50 ms 5 7 1 waitfor Accuracy Limits If an idle loop is used to implement a delay the processor continues to execute statements almost immediately within nanoseconds after the delay has expired In other words idle loops give pre cise delays Such precision cannot be achieved with wait for delays A particular application may not need very precise delay timing Suppose the application requires a 60 second delay with only 100 ms of delay accuracy that
129. ared to the current value If a wait for condition is not encountered then a jump is made to the end of the costatement 4 and on the next pass of the loop when the execution thread reaches the begin ning of the costatement execution passes directly to the wait for statement Once 1000 ms has passed the statement after the wait for is executed A costatement can wait for a long period of time but not use a lot of execution time Each costatement is a little program with its own state ment pointer that advances in response to conditions On each pass through the while loop as few as one statement in the costatement executes starting at the current position of the costate ment s statement pointer Consult Chapter 5 Multitasking with Dynamic C for more details The second costatement in the program checks to see if a key has been pressed and if one has prints out that key The abort statement is illustrated at 5 If the abort statement is exe cuted the internal statement pointer is set back to the first statement in the costatement and a jump is made to the closing brace of the costatement Observe the value of secs while the program is runningTo illustrate the use of snooping use the watch window to observe secs while the program is running Add the variable secs to the list of watch expressions then press lt Ctrl U gt repeatedly to observe as secs increases 3 4 Summary of Features This chapter provided a quick look at the in
130. ariable More precisely arrays are always passed by address Passing a pointer to a string is the same as passing the string Refer to Section 4 15 for more information on pointers The following example illustrates typical use of strings const char select Select option n char start 32 strepy start Press any key when ready n prine Sellecic 5 pass pointer to string praimer starto pass string 4 7 1 String Concatenation Two or more string literals are concatenated when placed next to each other For example Rabbits like carrots becomes Rabbits like carrots during compilation If the strings are on multiple lines the macro continuation character must be used For example Rabbits don t like line dancing becomes Rabbits don t like line dancing during compilation 22 Dynamic C User s Manual 4 7 2 Character Constants Character constants have a slightly different meaning They are not strings A character constant is enclosed in single quotes and is a representation of an 8 bit integer value to n 1 x1B Any character can be represented by an alternate form whether in a character constant or ina string Thus nonprinting characters and characters that cannot be typed may be used A character can be written using its numeric value preceded by a backslash x41 the hex value 41 101 the octal value 101 a leading zero is optional B10000001 the bin
131. ars beneath the title bar and the main menu items File Edit This area is called the control bar Uncheck View Menu Buttons to remove the control bar from the Dynamic C window Any undocked toolbars i e toolbars floating off the control bar will still be visible You undock a toolbar by placing the cursor on the 2 vertical lines on the left side of the toolbar and dragging it off the control bar Options Window Help N Environment Options i Project Options Each menu button group File Edit Compile Run Options Watch Debug Window Win dowView and Help has a checkbox for choosing whether or not to make its toolbar visi ble on the control bar To quickly return to only show ing the icons visible by default select Default Toolbars V Debug Windows Window Views Help Select the option Consolidate Eonsoldated visible buttons to one toolbar to do exactly that create one toolbar containing all visible icons Doing this enables the option Consolidated which tog gles the visibility of the consoli dated toolbar even when it is undocked from the control bar Customize Menu Buttons x Create a new file Default Toolbars Show All Buttons Consolidate visible buttons to one toolbar Customize Button Groups Select Customize Button Groups to bring up the Customize Menu But tons window This window allows you to change which buttons are associated with which button group on the
132. ary value 10000001 There are also several special forms preceded by a backslash a bell b backspace formfeed n newline r carriage return t tab v vertical tab O null character backslash c the actual character c single quote double quote Examples wie saic iello yii embedded double quotes Gonet Gonar J IZ character constant const char MSG Put your disk in the A drive n embedded new line at end printf MSG print MSG CGlneie Cleiraullic Wis empty string a single Nul1 byte 4 8 Statements Except for comments everything in a C program is a statement Almost all statements end with a semicolon A C program is treated as a stream of characters where line boundaries are generally not meaningful Any C statement may be written on as many lines as needed The Dynamic C text editor enforces a 512 byte limit on the length of a line Similarly the Dynamic C compiler is only guaranteed to parse up to 512 bytes for any single C statement A statement can be many things A declaration of variables is a statement An assignment is a statement A while or for loop is a statement A compound statement is a group of statements enclosed in braces and A group of statements may be single statements and or compound statements Comments the kind may occur almost anywhere even in the middle of a statement as long as they begin with and end with Chap
133. as well as all error and warning messages Output to a file can be accomplished with the O option dccl_ cmp myProgram c i myProgramInputs txt o myOutputs txt where myOutputs txt is overwritten if it exists or is created if it does not exist If the oa option is used myOutputs txt is appended if it exists or is created if it does not Chapter 15 Command Line Interface 241 15 4 Command Line Switches Each switch must be separated from the others on the command line with at least one space or tab Extra spaces or tabs are ignored The parameter s required by some switches must be added as separate text immediately following the switch Any of the parameters requiring a pathname including the source file pathname can have imbedded spaces by enclosing the pathname in quotes 15 4 1 Switches Without Parameters b Description Use compile mode Compile to bin file using attached target Factory Default Compile mode Compile to attached target GUI Equivalent Compile program F5 with Default Compile Mode set to Compile to bin file using attached target in Compiler tab of Project Options dialog bf Description Undo user defined BIOS file specification Factory Default None GUI Equivalent This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Compiler tab of Project Options dialog Uncheck the User Defined BIOS File checkbox br Description Use compile m
134. asking begins Finally ucos2 lib is explicitly used 3 This ensures that the definitions in 1 and 2 are used rather than the library defaults The last step in initialization is to set the number of ticks per second via OSSet TicksPerSec 4 The rest of this application is identical to example 1 and is explained in the previous section 1 Define necessary configuration constants for uC OS II define OS MAX EVENTS 2 define OS MAX TASKS 20 define OS MAX QS 0 define OS Q EN 0 define OS_MBOX_EN 0 define OS TICKS PER SEC 32 2 Define necessary stack configuration constants define STACK CNT 512 1 initial program stack define STACK CNT_1K OS MAX TASKS task stacks 3 This ensures that the above definitions are used use ucos2 lib void RandomNumberTask void pdata Declare semaphore global so all tasks have access OS EVENT RandomSem void main int i Initialize OS internals OSInit for i 0 i lt OS MAX TASKS i Create each of the system tasks OSTaskCreate RandomNumberTask NULL 1024 i semaphore to control access to random number generator RandomSem OSSemCreate 1 4 Set number of system ticks per second OSSetTicksPerSec OS TICKS PER_SEC Begin multi tasking Osstart 282 Dynamic C User s Manual void RandomNumberTask void pdata Declare as auto to ensure reentrancy auto OS TCB data auto INT8U err auto INT16U RNum OSTa
135. ate from left to right Certain operators namely amp gt and dot can be used on the left side of an assignment to construct what is called an value For example float x char amp x 0x17 low byte of x gets value Chapter 13 Operators 177 When the data types for an operation are mixed the resulting type is the more precise IGA F Yr Be AMOS SLAP Sloe USA Cliaiamer m al ff see sameas float i x J ik amp Gs sameas k int c By placing a type name in parentheses in front of a variable the program will perform type casting or type conversion In the example above the term float i means the the value of i con verted to floating point The operators are summarized in the following pages 13 1 Arithmetic Operators Unary plus or binary addition Standard C does not have unary plus Unary plus does not really do anything a b 10 5 binary addition Zz y just for emphasis Unary minus or binary subtraction a b 10 5 binary subtraction Zz y z gets the negative of y 178 Dynamic C User s Manual Indirection or multiplication As a unary operator it indicates indirection When used in a declara tion indicates that the following item is a pointer When used as an indirection operator in an expression provides the value at the address specified by a pointer int p p isa pointer to an integer const int j 45 p amp j
136. ault GUI Equivalent rb Description Factory Default GUI Equivalent rb Description Factory Default GUI Equivalent Null compile for errors and warnings without running the program The program will be downloaded to the target Program is run Select Compile Compile or use the keyboard shortcut lt F5 gt Use compile mode Compile to attached target Compile mode Compile to attached target Run program F9 Include BIOS when compiling to a file BIOS is included if compiling to a file This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check Include BIOS Do not include BIOS when compiling to a file BIOS is included if compiling to a file This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Uncheck Include BIOS Chapter 15 Command Line Interface 245 rd Description Include debug code when compiling to a file Factory Default RST 28 instructions are included GUI Equivalent This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check Include RST 28 instructions rd Description Do not include debug code when compiling to a file This option is ignored if not compiling to a file Factory Defa
137. auto int table 8 xmem2root table xdata_table 16 now the xmem data can be accessed via a 16 bit pointer into the table Both methods const and xdata create initialized data in flash at compile time so the data cannot be rewritten directly e Use xstring to declare a table of strings The keyword xst ring declares a table of strings in extended flash memory The dis advantage is that the strings cannot be accessed directly with pointers since the table entries are 20 bit physical addresses As illustrated above the function xmem2 root may be used to store the table in temporary stack space This uses root code space const char name strings 1 string n This does not xstring name string 1 string n y Both methods const and xstring create initialized data in flash at compile time so the data cannot be rewritten directly e Turn off selected debugging features Watch expressions breakpoints and single stepping can be selectively disabled on the Debugger tab of Project Options to save some root code space Chapter 17 Hints and Tips 267 e Place assembly language code into xmem Pure assembly language code functions can go into xmem asm foo root some instructions ret endasm The same function in xmem asm xmem foo _xmem some instructions lret use lret instead of ret endasm The correct calls are call foo root andlcall foo_xmem Ifthe
138. ays the offending line of code in the text window Edit Mode lt F4 gt Switches to edit mode from run mode Run mode aka debug mode After successful compi lation or execution no changes to the file are allowed unless Edit Mode is selected If the compilation fails or a runtime error occurs Dynamic C comes back already in edit mode 14 2 2 1 Editor Window Popup Menu Right click anywhere in the editor window and a popup menu will appear a Dynamic C Dist 8 01Beta2 O x File Edit Compile Run Inspect Options Window Help D EES seek ShPMASR New Ctrl N Open File at Cursor Ctrl Enter Close Ctrl F 4 Insert Code Template i Toggle Bookmark main Go to Bookmark int i j Sut Bite Bt He j 0 has etry i Ctrl F while 1 ith Fa itt Eddia BEN for 3 0 j lt 20000 j Options printf i d n Defaut Line 14 Col 39 Insert 4 All of the menu options with the exception of Open File at Cursor are available from the main menu e g New is an option in the File menu and was described earlier with the other options for that menu Open File at Cursor lt Ctrl Enter gt Attempts to open the file whose name is under the cursor The file will be opened in a new edi tor window if the file name is listed in 1ib dir as either an absolute path or a path relative to the Dynamic C root directory or if the file is in Dynamic C s root directory As a last resort an Open dia
139. b to display the following dialog Environment Options x Editor Gutter amp Margin Display Syntax Colors Code Templates Debug Windows Print Alerts a Ee for statement function declaration Delete statement Add if else structure declaration witch statement while statement libheader Library Header libdescription Library Description funedescription Function Description Main Main program Code switch case break case break default Cancel Help As you can see there are several predefined templates The Edit and Delete buttons allow the like named operations on existing templates The Add button gives the ability to create custom templates To bring up the list of defined templates Dynamic C must be in edit mode Then you must do one of the following press lt Ctrl j gt or right click in the editor window and choose Insert Code Template from the popup menu or choose the Edit command menu and select Insert Code Template Clicking on the desired template name inserts that template at the cursor location 212 Dynamic C User s Manual Debug Windows Tab Click on the Debug Windows tab to display the following dialog Here is where you change the behavior and appearance of Dynamic C debug windows Environment Options Jv Stdic Jo Stack Je Bump Jo Append Under General Preferences is where you decide which debug windows will be opened
140. backspace through indentation levels If this is unchecked the back space will move one character at a time Show line numbers Check this to display line numbers in the text window This must be checked to acti vate the option Show line numbers on gutter Show line numbers on gutter If gutters are visible check this to display line numbers in the gutter Notepad style cursor Checking this causes the cursor to behave similar to Notepad Cursor beyond EOF Check this option to move the cursor past the end of the file Cursor beyond EOL Check this option to move the cursor past the end of the line Selection beyond EOL Check this option to select text beyond the end of the line Keep trailing blanks Check this option to keep extra spaces and tabs at the end of a line when a new line is started Chapter 14 Graphical User Interface 205 Persistent blocks Check this option to keep selected text selected when you move the cursor using the arrow keys Using the mouse to move the cursor will deselect the block of text Using menu commands or keyboard shortcuts will affect the entire block of selected text For example pressing lt Ctrl X gt will cut the selected block But pressing the delete key will only delete one character to the right of the cursor If this option was unchecked pressing the delete key would delete all the selected text If this option is checked and the Find or Replace dialog is opened with a piece of tex
141. bout this window Dump at Address lt Ctrl D gt Allows blocks of raw values in any memory location to be looked at Values can be displayed on the screen or written to a file If separate I amp D space is enabled you can choose which logi cal space to examine instruction space or data space B When writing to a file the option Save Memory Dump Setup to File requires a file pathname and the Memory Dump number of bytes to dump The option Dump ddress 00000 7 Save Entire Flash to File requires a file AANA pathname If you are running in RAM VV Save to file then it will be RAM that is saved to a file not Flash because this option sim Number of bytes ply starts dumping physical memory at File name z address zero OK Cancel Help 202 Dynamic C User s Manual When displaying on a screen the Memory Dump window is opened A typical screen display appears below Although the cursor is not visible in this screen capture it is hovering over log ical memory location 0x0022 which has a value of OxFF This information is given in the fly over text and also in the titlebar Either or both of these options may be disabled by right click ing in the Memory Dump window or in the Options Environment Options Debug Windows tab under Specific Preferences for the Memory Dump window gt gt Memory Dump 00022 FF Update bution Jox20000 Z ita oo FF FF FF FF FF FF FF FF
142. but instead return 0 to indicate that the desired time has not yet elapsed DelayMs IntervalMs DelaySec IntervalSec DelayTicks IntervalTick User defined firsttime functions are allowed 5 4 6 Shared Global Variables The variables SEC_TIMER MS_ TIMER and TICK_TIMER are shared making them atomic when being updated They are defined and initialized in VDRIVER LIB They are updated by the periodic interrupt and are used by firsttime functions They should not be modified by an application program Costatements and cofunctions depend on these timer variables being valid for use in wait for statements that call functions that read them E g the following statement will access SEC_TIMER waitfor DelaySec 3 Chapter 5 Multitasking with Dynamic C 53 5 5 Cofunctions Cofunctions like costatements are used to implement cooperative multitasking But unlike cos tatements they have a form similar to functions in that arguments can be passed to them and a value can be returned but not a structure The default storage class for a cofunction s variables is Instance An instance variable behaves like a static variable i e its value persists between function calls Each instance of an Indexed Cofunction has its own set of instance variables The compiler directive class does not change the default storage class for a cofunction s variables All cofunctions in the program are initialized when the function chain GLOBAL INIT is call
143. c sizeof A built in function that returns the size in bytes of a variable array structure union or of a data type sizeof can be used inside of assembly blocks int list 10 99 33 2 7 63 217 x sizeof list x will be assigned 14 speed Declares a function to be optimized for speed as opposed to size speed int func f 160 Dynamic C User s Manual static Declares a local variable to have a permanent fixed location in memory as opposed to auto where the variable exists on the system stack Global variables are by definition static Local variables are auto by default int func int i auto by default static float x explicitly static struct This keyword introduces a structure declaration which defines a type struct int x int y int Zz thing1 defines the variable thing1 to be a struct struct speed int x int y int Zz declares a struct type named speed struct speed thing2 defines variable thing2 to be of type speed Structure declarations can be nested struct struct speed slow struct speed slower tortoise defines the variable tortoise to be a nested struct struct rabbit struct speed fast struct speed faster declares a nested struct type named rabbit struct rabbit chips defines the variable chips to be of type rabbit Chapter 12 Keywords 161 switch Indicates the start of a swi
144. cal User Interface 221 Serial Options This is where you setup for serial communication The following options are available when the Use Serial Connection radio button is selected Debug Baud Rate This defaults to 115200 bps It is the baud rate used for target communica tions after the program has been downloaded Max Download Baud Rate When baud negotiation is enabled Dynamic C will start out at the selected baud rate and work downwards until it reaches one both it and the target can handle Disable Baud Negotiation Dynamic C negotiates a baud rate for program download This helps with USB or anyone who happens to have a high speed serial port This default behavior may be disabled by checking the Disable Baud Negotiation check box When baud negotiation is disabled the program will download at 115k baud or 56k baud only When enabled it will download at speeds up to 460k baud as specified by Max Download Baud Rate Serial Port This is the COM port of the PC that is connected to the target It defaults to COMI Stop Bits The number of stop bits used by the serial drivers Defaults to 2 Enable Processor Verification Processor detection is enabled by default The connection is normally checked with a test using the Data Set Ready DSR line of the PC serial con nection If the DSR line is not used as expected a false error message will be generated in response to the connection check To bypass the connection ch
145. called during an ISR that re enables interrupts before completion scheduling should not be performed when Interrupt X com pletes scheduling should instead be deferred until the least nested ISR completes The next Figure shows an example of this situation Task 2 Interrupt Z Nesting 1 Do critical code Interrupt Z TA ISR ipres Task 1 Interrupt X P Nesting 2 Interrupt X TA ISR Task 1 is readied Nesting 1 as ipres Finish ISR Nesting 0 Figure 3 Type 2 ISR Nested Inside Type 3 ISR As can be seen here although the ISR for interrupt Z does not signal any tasks by posting to a semaphore mailbox or queue it must increment and decrement the interrupt nesting count since it re enables interrupts ipres prior to finishing all of its work 18 2 3 General Layout of a TA ISR A TA ISR is just like a standard ISR except that it does some extra checking and house keeping The following table summarizes when to use a TA ISR Table 18 1 Use of TA ISR yC OS II Application Type 1 Type 22 Type 3 TA ISR Required No Yes Yes 1 Type 1 Leaves interrupts disabled and does not signal task to ready state 2 Type 2 Leaves interrupts disabled and signals task to ready state 3 Type 3 Reenables interrupts before completion Chapter 18 uC OS II 273 The following Figure shows the logical flow of a TA ISR Save registers used by TA ISR
146. ch expressions switching to edit mode 196 add or delete oe 201 symbol information 289 watch menu option 235 symbolic constant 0 169 watch Window 201 WINdOW stiesnene 234 T AEC ApoB eae EE 164 WHILE 24 cesses everest 23 32 164 TCP IP sosssssssesneseneneneeeeneneens 223 Widow meitene ia 234 text editing eseese 194 windows text search e a aai 195 assembly 131 234 235 tiling WINdOWS oseeressesssseeeens 234 cascaded foeseciecdssstscesteecsses 234 toggle information 234 237 breakpoint reeeees 199 200 MESSA BE pyrr n 234 toolbar E ie 233 a eeeeecceseseseeeeee 234 236 LACE INTO sisese ienero es sess 199 stack eee 234 237 ype Stdio sccccsseieaacies 214 234 casting E EEE EE 178 tiled horizontally 234 checking sess 25 224 tiled vertically cesses 234 definitions 006 25 26 wate cased LAAT 202 234 235 typedef siisii 25 26 162 U X dat aoe riie ess 165 unary Operators 0 0 177 308 Dynamic C User s Manual
147. chine cycles because of the differences between call 1lcal1l1 and ret lret e Increase DATAORG Root code space can be increased by increasing DATAORG in RabbitBios c in increments of 0x1000 DATAORG is the beginning logical address for the data segment The default is 0x3000 when separate I amp D space is enabled and 0x6000 otherwise It can be changed to as high as OxBO000 Be aware that increasing DATAORG reduces the amount of root data space e Reduce usage of root constants and string literals Shortening literal strings and reusing them will save root space The compiler automati cally reuses identical string literals These two statements printf This is a literal string sprintf buf This is a literal string will share the same literal string space whereas sprintf buf this is a literal string will use its own space since the string is different 266 Dynamic C User s Manual e Use xdata to declare large tables of initialized data If you have large tables of initialized data consider using the keyword xdata to declare them The disadvantage is that data cannot be accessed directly with pointers The function xmem2root allows xdata to be copied to a root buffer when needed This uses root code space const int root _tb1 8 300 301 302 103 304 305 306 307 This does not xdata xdata_table 300 301 302 103 304 305 306 307 main this only uses temporary stack space
148. cluding the exceptions in 1 1 2 library and sample code provided with the Software may be modified for use with the Softools WinIDE program in Qualified Systems as defined in 1 2 All other Restrictions specified by this license agreement remain in force 1 2 Qualified Systems means a microprocessor based computer system which is either i manufactured by for or under license from Z WORLD or ii based on the Rabbit 2000 microprocessor or the Rabbit 3000 microprocessor Qualified Systems may not be a designed or intended to be re programmable by your customer using the Software or b competitive with Z WORLD products except as otherwise stated in a written agreement between Z World and the system manufacturer Such written agreement may require an end user to pay run time royalties to Z World Dynamic C User s Manual 299 2 License Z WORLD grants to You a nonexclusive nontransferable license to i use and repro duce the Software solely for internal purposes and only for the number of users for which You have purchased licenses for the Users and not for redistribution or resale ii use and repro duce the Software solely to develop the Qualified Applications and iii use reproduce and distribute the Qualified Applications in object code only to end users solely for use on Quali fied Systems provided however any agreement entered into between You and such end users with respect to a Qualified Application is no less pro
149. compilation options E g enabling separate I amp D space will affect the memory map OxFFFFF OxFFFF Xmem Segment Root Data S Stack Segment Interrupt Vectors RAM OxD000 eem e A oxB1000 Watch Code f Vectors ate J OxC Cog pi oxagnoo o a Stack tne eee ee ee Data Segment 0xA8000 el ieee ll RGy Internal Interrupt gt Vectors 0x80000 A OxCE00 Xmem Code from Xmem Segment K Flash Memory Root Code ji Pi Logical Address Space Physical Address Space Base Segment Root Code OxCCOO to rs 0x0000 Figure 9 1 Dynamic C Memory Mapping Figure 9 1 illustrates how the logical address space is divided and where code resides in physical memory Both the static RAM and the flash memory are 128K in the diagram Physical memory starts at address 0x00000 and flash memory is usually mapped to the same address SRAM typi cally begins at address 0x80000 If BIOS code runs from flash memory the BIOS code starts in the root code section at address 0x00000 and fills upward The rest of the root code will continue to fill upward immediately fol Chapter 9 Memory Management 107 lowing the BIOS code If the BIOS code runs from SRAM the root code section along with root data and stack sections will start at address 0x80000 9 1 1 Memory Mapping Control The advanced user of Dynamic C can control how
150. ction return values or array elements to be 32 bit integers If nothing else is specified long implies a signed integer long i j k 32 bit signed unsigned long int w 32 bit unsigned long funct long arg 156 Dynamic C User s Manual main Identifies the main function All programs start at the beginning of the main function main is actually not a keyword but is a function name nodebug Indicates a function is not compiled in debug mode This is the default for assembly blocks nodebug int func asm nodebug endasm See also debug and directives debug nodebug norst Indicates that a function does not use the RST instruction for breakpoints norst void func nouseix Indicates a function does not use the IX register as a stack frame reference pointer This is the default case nouseix void func NULL The null pointer This is actually a macro not a keyword Same as void 0 Chapter 12 Keywords 157 protected An important feature of Dynamic C is the ability to declare variables as protected Such a variable is protected against loss in case of a power failure or other system reset because the compiler gen erates code that creates a backup copy of a protected variable before the variable is modified If the system resets while the protected variable is being modified the variable s value can be restored when the system restarts Battery backed
151. d Dynamic C 4 1 C Language Elements A Dynamic C program is a set of files consisting of one file with a c extension and the requested library files Each file is a stream of characters that compose statements in the C language The language has grammar and syntax that is rules for making statements Syntactic elements often called tokens form the basic elements of the C language Some of these elements are listed in the table below Table 4 1 Language Elements Syntactic Element Description punctuation Symbols used to mark beginnings and endings names Words used to name data and functions numbers Literal numeric values strings Literal character values enclosed in quotes directives Words that start with and control compilation keywords Words used as instructions to Dynamic C operators Symbols used to perform arithmetic operations Chapter 4 Language 15 4 2 Punctuation Tokens Punctuation serves as boundaries in C programs The table below lists the punctuation tokens Table 4 2 Punctuation Marks and Tokens Token Description Terminates a statement label Terminates a simple statement or a do loop Separates items in a list such as an argument list declaration list initialization list or expression list Encloses argument or parameter lists Function calls always require parentheses Macros with parameters also require parentheses Also used for arithmetic and
152. d by an application program Among other things the TCP IP stack depends on the validity of the timer variables On initialization SEC_ TIMER is synchronized with the real time clock The date and time can be accessed more quickly by reading SEC_ TIMER than by reading the real time clock The periodic interrupt updates SEC_TIMER every second MS_TIMER every millisecond and TICK TIMER 1024 times per second the frequency of the periodic interrupt These variables are used by the DelaySec DelayMS and DelayTicks functions but are also convenient for application programs to use for timing purposes The following sample shows the use of MS_ TIMER to measure the execution time in microseconds of a Dynamic C integer add The work is done in a nodebug function so that debugging does not affect timing For more informa tion on the nodebug keyword please see nodebug on page 157 define N 10000 main timeit nodebug timeit unsigned long int TO Hoare Wal Ge 3S 78 Tae al g TO MS TIMER for i 0 i lt N i T1 gives empty loop time T1l MS TIMER TO TO MS TIMER for i 0 i lt N i x y T2 gives test code execution time T2 MS TIMER TO subtract empty loop time and convert to time for single pass T2 T2 T1 f loat N multiply by 1000 to convert ms to us printf time to execute test code f us n T2 1000 0 68 Dynamic C User s Manual 6 4 Watchdog Timers Watchdog timers limit th
153. d cofunction allows the body of a cofunction to be called more than once with different parameters and local variables The parameters and the local variable that are not declared static have a special lifetime that begins at a first time call of a cofunction instance and ends when the last curly brace of the cofunction is reached or when an abort or return is encountered The indexed cofunction call is a cross between an array access and a normal function call where the array access selects the specific instance to be run Typically this type of cofunction is used in a situation where N identical units need to be con trolled by the same algorithm For example a program to control the door latches in a building could use indexed cofunctions The same cofunction code would read the key pad at each door compare the passcode to the approved list and operate the door latch If there are 25 doors in the building then the indexed cofunction would use an index ranging from 0 to 24 to keep track of which door is currently being tested An indexed cofunction has an index similar to an array index waitfordone ICofunc n ICofunc2 m The value between the square brackets must be positive and less than the maximum number of instances for that cofunction There is no runtime checking on the instance selected so like arrays the programmer is responsible for keeping this value in the proper range 5 5 5 2 1 Indexed Cofunction Restrictions
154. dUsed DESCRIPTION Returns the number of bytes currently in the stream read buffer RETURN VALUE Number of bytes currently in the stream read buffer LIBRARY SP_STREAM LIB 98 Dynamic C User s Manual 7 3 3 2 Byte Stream Sample Program This program Samples SlavePort Slave Demo c runs ona slave and implements a byte stream over the slave port class auto use Slave port lib use Sp stream lib define STREAM BUFFER _SIZE 31 main char buffer 10 int bytes read SPStream stream Circular buffers need 9 bytes for bookkeeping char stream_inbuf STREAM BUFFER SIZE 9 char stream _outbuf STREAM BUFFER SIZE 9 SPStream stream ptr setup buffers cbhuf_init stream_inbuf STREAM BUFFER_SIZE stream inbuf stream_inbuf cbhuf_init stream_outbuf STREAM BUFFER_SIZE stream outbuf stream_outbuf stream _ ptr amp stream SWalimalie Al p SPsetHandler 0x42 SPShandler stream ptr while 1 bytes read SPSread stream ptr buffer 10 if bytes read SPSwrite stream ptr buffer bytes read L Chapter 7 The Slave Port Driver 99 100 Dynamic C User s Manual 8 Run Time Errors Compiled code generated by Dynamic C calls an exception handling routine for run time errors The exception handler supplied with Dynamic C prints internally defined error messages to a Win dows message box when run time errors are detected d
155. default project default dcp is used automatically unless the project file switch pf specifies another project file to use The project settings are read by the command line compiler first even if a pf switch comes after the use of other switches and then all other switches used in the com mand line are read which may modify any of the settings specified by the project file The default behavior given for each switch in the command line documentation is with reference to the factory dcp settings so the user must be aware of the default state the command line compiler will actually use The settings of default dcp can be shown by entering dccl_cmp alone on the command line The defaults for any other project file can be shown by following decl_cmp by a the project file switch without a source file dccl_ cmp shows the current state of all default dcp settings dccl_ cmp pf myProject shows the current state of all myProject dcp settings dccl_ cmp myProgram c ne 25 pf myProject reads myProject dcp then compiles and runs myProgram c but with 25 errors maximum shown The command line compiler unlike Dynamic C never updates the project file it uses Any changes desired to a project file to be used by the command line compiler can be made within Dynamic C or changed by hand with an editor Making changes by hand should be done with caution using an editor which does not introduce carriage returns or line feeds with wordwrap wh
156. define READ ABS READ ABS define READ REL READ REL The term READ ABS is the same as 10 0 or 10 and READ_REL is the same as 10 1 or 11 Note that Dynamic C does not allow anything to be assigned to a constant expression READ ABS 27 produces compiler error To accomplish the above statement do the following undef READ ABS define READ ABS 27 18 Dynamic C User s Manual 4 5 Macros Macros may be defined in Dynamic C by using define A macro is a name replacement fea ture Dynamic C has a text preprocessor that expands macros before the program text is compiled The programmer assigns a name up to 31 characters to a fragment of text Dynamic C then replaces the macro name with the text fragment wherever the name appears in the program In this example define OFFSET 12 define SCALE 72 ime aL Rep i x SCALE OFFSET the variable i gets the valuex 72 12 Macros can have parameters such as in the follow ing example define word a b a lt lt 8 b char c int i j i Worrell 3 s sameas i lt lt 8lc The compiler removes the surrounding white space comments tabs and spaces and collapses each sequence of white space in the macro definition into one space It places a before any or to preserve their original meaning within the definition Dynamic C implements the and macro operators The operator forces the compiler to interpret the parameter immediately
157. ding memory type e Code and BIOS in Flash If you select this option the compiler will load the BIOS to flash when cold booting and will compile the user program to flash where it will normally reside e Code and BIOS in RAM TIf you select this option the compiler will load the BIOS to RAM on cold booting and compile the user program to RAM This option is useful if you want to use breakpoints while you are debugging your application but you don t want interrupts disabled while the debugger writes a breakpoint to flash this can take 10 ms to 20 ms or more depending on the flash type used It is also possible to have a target that only has RAM for use as a Slave processor but this requires more than checking this option because hardware changes are necessary that in turn require a special BIOS and cold loader e Code and BIOS in Flash Run in RAM If you select this option the compiler will load the BIOS to flash when cold booting compile the user program to flash and then the BIOS will copy the flash image to the fast RAM attached to CS2 This option supports a CPU running at a high clock speed anything above 29 MHz This is the same as the command line compiler mfr option Max Shown This limits the number of error and warning messages displayed after compilation List Files Checking this option generates an assembly list file for each compile A list file con tains the assembly code generated from the source file
158. dit mode and run mode run mode is also known as debug mode Various debugging windows can be viewed in run mode Programs can compile directly to a target controller for debugging in RAM or flash Programs can also be compiled to a bin file with or without a controller connected to the PC To debug a program a controller must be connected to the PC either directly via a programming cable or indirectly via an Ethernet connection and a RabbitLink board Multiple instances of Dynamic C can run simultaneously This means multiple debugging sessions are possible over dif ferent serial ports This is useful for debugging boards that are communicating among themselves 14 1 Editing A file is displayed in a text window when it is opened or created More than one text window may be open If the same file is in multiple windows any changes made to the file in one window will be reflected in all text windows that display that file Dynamic C supports normal Windows text editing operations A mouse or other pointing device may be used to position the text cursor select text or extend a text selection The keyboard may be used to do these same things Text may be scrolled using the arrow keys the PageUp and PageDown keys and the Home and End keys The up down left and right arrow keys move the cursor in the corresponding direction The Ctrl key works in conjunction with the arrow keys this way Ctrl Left Move cursor to previous word
159. e dmo Sacer gt 5 void func2 30 Dynamic C User s Manual You can pass arguments to functions that are called indirectly by pointers but the compiler will not check them for correctness The following program shows some examples of using function pointers typedef int fnptr create pointer to function that returns an integer main WME 38 WR dme SENEL declare var fnc1 asa pointer to an int function maoe EAE declare var fp2 as pointer to an int function PACIL TACEN initialize fnc1 to point to intfunc T2 LEENE p initialize fp2 to point to the same function x Site 1 2 call intfune via fnel yw 2 3 4 call intfune via fp2 primer Mein 52 5 print sd n y ime dmefumeline z ae y IGE UST IAW p 4 17 Argument Passing In C function arguments are generally passed by value That is arguments passed to a C function are generally copies on the program stack of the variables or expressions specified by the caller Changes made to these copies do not affect the original values in the calling program In Dynamic C and most other C compilers however arrays are always passed by address This policy includes strings which are character arrays Dynamic C passes structs by value on the stack Passing a large struct takes a long time and can easily cause a program to run out of memory Pass pointers to large structs if such problems occur
160. e define define define define A 4 Rabbit 2000 3000 Internal registers ERR BADPOINTER ERR _BADARRAYINDEX ERR_ DOMAIN ERR RANGE ERR FLOATOVERFLOW ERR LONGDIVBYZERO ERR LONGZEROMODULUS ERR BADPARAMETER ERR_INTDIVBYZERO ERR UNEXPECTEDINTRPT ERR CORRUPTEDCODATA ERR VIRTWDOGTIMEOUT ERR BADXALLOC ERR BADSTACKALLOC ERR BADSTACKDEALLOC ERR BADXALLOCINIT ERR NOVIRTWDOGAVAIL ERR INVALIDMACADDR ERR INVALIDCOFUNC 228 229 234 235 236 237 238 239 240 241 243 244 245 246 247 249 250 251 252 Macros are defined for all of the Rabbit s I O registers A listing of these register macros can be found in the Rabbit 2000 Microprocessor User s Manual and the Rabbit 3000 MIcroprocessor User s Manual A 4 1 Shadow Registers Shadow registers exist for many of the I O registers They are character variables defined in the BIOS The naming convention for shadow registers is to append the word Shadow to the name of the register For example the global control status register GCSR has a corresponding shadow register named GCSRShadow The purpose of the shadow registers is to allow the program to reference the last value pro grammed to the actual register This is needed because a number of the registers are write only 288 Dynamic C User s Manual Appendix B Map File Generation All symbol information is put into a single file The map file has three sections a memory map section a function section and a
161. e 18 52 227 86 d of the NASA Supplement to the FAR 300 Dynamic C User s Manual 6 Disclaimer of Warranty You expressly acknowledge and agree that the use of the Software and its documentation is at Your sole risk THE SOFTWARE DOCUMENTATION AND TECHNICAL SUPPORT ARE PROVIDED ON AN AS IS BASIS AND WITHOUT WAR RANTY OF ANY KIND Information regarding any third party services included in this pack age is provided as a convenience only without any warranty by Z WORLD and will be governed solely by the terms agreed upon between You and the third party providing such ser vices Z WORLD AND ITS LICENSORS EXPRESSLY DISCLAIM ALL WARRANTIES EXPRESS IMPLIED STATUTORY OR OTHERWISE INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICU LAR PURPOSE AND NON INFRINGEMENT OF THIRD PARTY RIGHTS Z WORLD DOES NOT WARRANT THAT THE FUNCTIONS CONTAINED IN THE SOFTWARE WILL MEET YOUR REQUIREMENTS OR THAT THE OPERATION OF THE SOFT WARE WILL BE UNINTERRUPTED OR ERROR FREE OR THAT DEFECTS IN THE SOFTWARE WILL BE CORRECTED FURTHERMORE Z WORLD DOES NOT WAR RANT OR MAKE ANY REPRESENTATIONS REGARDING THE USE OR THE RESULTS OF THE SOFTWARE IN TERMS OF ITS CORRECTNESS ACCURACY RELIABILITY OR OTHERWISE NO ORAL OR WRITTEN INFORMATION OR ADVICE GIVEN BY Z WORLD OR ITS AUTHORIZED REPRESENTATIVES SHALL CREATE A WARRANTY OR IN ANY WAY INCREASE THE SCOPE OF THIS WARRANTY SOME JURISDIC TIONS DO NOT ALLOW THE EXCLUSIO
162. e Edit Compile Run Inspect Options Window Help De aml ae mea A Ala lr Change Register Yaluefs Ctrl Alt R Copy Ctrl C Switch to Editable View Ctrl Alt E A click of the right mouse button brings up the menu pictured above Choos ing Change Register Value s brings up a dialog where you can enter new values for any of the registers except SP PC and XPC 216 Dynamic C User s Manual Show registers as editable In this mode you can increment or decrement most of the registers all but the SP PC and XPC registers This screen shows the Register Contents window in editable mode It is divided into registers on the left and flags on the right Dynamic C Dist 8 00Beta2 File Edit Compile Run Inspect Options Window Help Ca a S OxF Ox0027 OxCEZO z Ox2 7CC 0x9040 0x0009 0x0000 0x0000 OxCS8D MN RR OR Foooqoo or OxDFFD 5 z iovinse Decrement Register Ctrl Alt D 0x0000 Increment Register Ctri Alt New Register Value Ctrl Alt N Switch to History View Ctrl Alt H A click of the right mouse button on the register side will bring up the menu pictured here You can switch to history view or change register values for all but the SP PC and XPC registers The option New Register Value will bring up a dialog to enter New Register Value fn the new register value Hex values must have Ox Cancel prepended to the value Values without a leading 0
163. e User Block Recommended method for storing non file data This is where calibration constants for boards with analog I O are stored in the factory Space here is limited to as small as 8K sizeof SysIDBlock bytes or less if there are calibration constants e Flash File System The file system is best for storing data that must be organized into files or data that won t fit in the User block It is best used on a second flash chip It is not possible to use a second flash for both extra program code that doesn t fit into the first flash and the file system The macro USE_2NDFLASH_ CODE must be uncommented in the BIOS to allow programs to grow into the second flash this precludes the use of the file sys tem e WriteFlash2 This function is provided for writing arbitrary amounts of data directly to arbitrary addresses in the second flash e Battery Backed RAM Storing data here is as easy as assigning values to global variables or local static variables The file system can also be configured to use RAM The important question is what will you do when your battery runs out 264 Dynamic C User s Manual 17 2 1 User Block The User block is an area near the top of flash reserved for run time storage of persistent data and calibration constants The size of the User block can be read in the global structure member SysIDBlock userBlockSize The functions readUserBlock and writeUserBlock are used to access the User block These f
164. e amount of time your system will be in an unknown state 6 4 1 Hardware Watchdog The Rabbit CPU has one built in hardware watchdog timer WDT The Virtual Driver hits this watchdog periodically The following code fragment could be used to disable this WDT asm ld a 0x51 ioi 1d WDTTR a ld a 0x54 ioi 1d WDTTR a endasm However it is recommended that the watchdog not be disabled This prevents the target from entering an endless loop in software due to coding errors or hardware problems If the Virtual Driver is not used the user code should periodically call hitwd When debugging a program if the program is stopped at a breakpoint because the breakpoint was explicitly set or because the user is single stepping then the debug kernel hits the hardware watchdog periodically 6 4 2 Virtual Watchdogs There are 10 virtual WDTs available they are maintained by the Virtual Driver Virtual watch dogs like the hardware watchdog limit the amount of time a system is in an unknown state They also narrow down the problem area to assist in debugging The function VaGet FreeWd count allocates and initializes a virtual watchdog The return value of this function is the ID of the virtual watchdog If an attempt is made to allocate more than 10 virtual WDTs a fatal error occurs In debug mode this fatal error will cause the program to return with error code 250 The default run time error behavior is to reset the board The ID returned
165. e below Table 5 1 Flags that specify the run status of a costatement STOPPED INIT State of Costatement ie m Done or has been initialized to run but set to y y inactive Set by CoReset yes no Paused waiting to resume Set by CoPause no yes Initialized to run Set by CoBegin Running CoResume will return the flags to no no this state The function igsCoDone returns true 1 if both the STOPPED and INIT flags are set The function isCoRunning returns true 1 if the STOPPED flag is not set The CSState field applies only if the costatement has aname The CSState flag has no meaning for unnamed costatements or cofunctions Last Location The two fields last locADDR and last 1ocCBR represent the 24 bit address of the location at which to resume execution of the costatement If Last locADDR is zero as it is when initial ized the costatement executes from the beginning subject to the CSState flag If last 1locADDR is nonzero the costatement resumes at the 24 bit address represented by last locADDR and lastlocCBR These fields are zeroed whenever one of the following is true e the CoData structure is initialized by acallto GLOBAL INIT CoBegin or CoReset e the costatement is executed to completion e the costatement is aborted Check Sum The ChkSum field is a one byte check sum of the address It is the exclusive or result of the bytes in Last locADDR and lastlocCBR If
166. e callback table by SPSetHandler 7 2 Functions Slave _port 1ib provides the following functions Chapter 7 The Slave Port Driver 73 SPinit int SPinit int mode DESCRIPTION This function initializes the slave port driver It sets up the callback tables for the different channels The slave port driver can be run in either polling mode where SPtick must be called periodically or in interrupt mode where an ISR is triggered every time the mas ter sends a command There are two version of interrupt mode In the first interrupts are reenabled while the handler function is executing In the other the handler function will execute at the same interrupt priority as the driver ISR PARAMETERS mode 0 For polling 1 For interrupt driven interruptible handler functions 2 For interrupt driven non interruptible handler functions RETURN VALUE 1 Success 0 Failure LIBRARY SLAVE PORT LIB 74 Dynamic C User s Manual SPsetHandler int SPsetHandler char address int handler void handler params DESCRIPTION This function sets up a handler function to process incoming commands from the master for a particular slave port address PARAMETERS address The 8 bit slave port address of the channel that corresponds to the handler function handler Pointer to the handler function This function must have a par ticular form which is described by the function description for MyHandler shown below Settin
167. e name as the input file with the extension DCZ at the end E g test txt becomes test txt dcz e Exit with zero on success non zero on failure If the utility does not meet these criteria or does not exist a compile time error will be generated C 3 Font and Bitmap Converter Utility The Font and Bitmap Converter converts Windows fonts and monochrome bitmaps to a library file format compatible with Z World s Dynamic C applications and graphical displays Non Roman characters may also be converted by applying the monochrome bitmap converter to their bitmaps Double click on the fmbcnvtr exe file in the Dynamic C directory Select and convert existing fonts or bitmaps Complete instructions are available by clicking on the Help button within the utility When complete the converted file is displayed in the editing window Editing may be done but probably won t be necessary Save the file as whatever 1ib the name of your choice Add the file to applications with the statement use whatever lib remember to add this filename to lLib dir or by cut and pasting from whatever 1ib directly into the application file Dynamic C User s Manual 293 C 4 Rabbit Field Utility The Rabbit Field Utility RFU will load a binary file created by Dynamic C to a Rabbit based controller It can be used to load a program to a controller without Dynamic C present on the host computer and without recompiling the program each time it is
168. e new Lib dir dccl_cmp myProgram c lf MyPath MyLibs txt ne maxNumberOfErrors Description Factory Default GUI Equivalent Example Change the maximum number of errors reported A maximum of 10 errors are reported Enter the maximum number of errors to report under Max Shown in the Project Options Compiler dialog box Allows up to 25 errors to be reported dccl_ cmp myProgram c ne 25 nw maxNumberOfWarnings Description Factory Default GUI Equivalent Example Change the maximum number of warnings reported A maximum of 10 warnings are reported Enter the maximum number of warnings to report under Max Shown in the Project Options Compiler dialog box Allows up to 50 warnings to be reported dccl_ cmp myProgram c nw 50 Chapter 15 Command Line Interface 253 o OutputFilePathname Description Factory Default GUI Equivalent Example Write header information if specified with h and all program errors warnings and outputs to a text file If the text file does not exist it will be created otherwise it will be overwritten None Go to Option Environment Options and select the Debug Windows tab Under Specific Preferences select Stdio and check Log to File under Options dccl_ cmp myProgram c o MyOutput txt dccl_ cmp myProgram c o MyOutput txt h dccl_ cmp myProgram c h o MyOutput txt oa OutputFilePathname Description Factory De
169. eck uncheck the Enable Processor Verification checkbox This allows custom designed systems to not connect the STATUS pin to the programming port Also disabling the connection check allows non standard PC ports or USB converters which might not implement the DSR line to work Use USB to Serial Converter Check this checkbox if a USB to serial converter cable is being used Dynamic C will then attempt to compensate for abnormalities in USB con verter drivers This mode makes the communications more USB RS232 con verter friendly by allowing higher download baud rates and introducing short delays at key points in the loading process Checking this box may also help non standard PC ports to work properly with Dynamic C 222 Dynamic C User s Manual TCP IP Options In order to program and debug a controller across a TCP IP connection the Network Address field must have the IP address of either the Z World RabbitLink board that is attached to the controller or the IP address of a controller that has its own Ethernet interface To accept control commands from Dynamic C the Control Port field must be set to the port used by the Ethernet enabled controller The Controller Name is for informa tional purposes only The Discovery button makes Dynamic C broadcast a query to any RabbitLinks attached to the network Any RabbitLinks that respond to the broad cast can be selected and their information will be placed in the appropria
170. ed This call is made by premain 5 5 1 Cofunction Syntax A cofunction definition is similar to the definition of a C function cofunc scofunc type name dim type argl type argN statement yield abort waitfor expression cofunc scofunc The keywords cofunc or scofunc a single user cofunction identify the statements enclosed in curly braces that follow as a cofunction type Whichever keyword cofunc or scofunc is used is followed by the data type returned void int etc name A name can be any valid C name not previously used This results in the creation of a structure of type CoData of the same name dim The cofunction name may be followed by a dimension if an indexed cofunction is being defined cofunction arguments argl argN As with other Dynamic C functions cofunction arguments are passed by value cofunction body A cofunction can have as many C statements including abort yield waitfor and waitfordone statements as needed Cofunctions can contain calls to other cofunctions 54 Dynamic C User s Manual 5 5 2 Calling Restrictions You cannot assign a cofunction to a function pointer then call it via the pointer Cofunctions are called using a wait fordone statement Cofunctions and the wait fordone statement may return an argument value as in the following example HIME J pp Kp Wp Be j waitfordone x Cofuncl k wvaictorcdonel y Corune2 ss 2 COFunE3
171. ed by a statement pointer that records the place where execution of the block of statements has been paused to wait for an event To multitask using Dynamic C language extensions most application programs will have some flavor of this simple structure main aac LA while 1 endless loop for multitasking framework costate task 1 body of costatement costate task 2 body of costatement 46 Dynamic C User s Manual 5 2 A Real Time Problem The following sequence of events is common in real time programming Start Wait for a pushbutton to be pressed Turn on the first device Wait 60 seconds Turn on the second device Wait 60 seconds Turn off both devices Go back to the start a AU FW NY The most rudimentary way to perform this function is to idle busy wait in a tight loop at each of the steps where waiting is specified But most of the computer time will used waiting for the task leaving no execution time for other tasks 5 2 1 Solving the Real Time Problem with a State Machine Here is what a state machine solution might look like tasklstate 1 initialization while 1 switch tasklstate Gase is if buttonpushed tasklstate 2 turnondevicel camer iE iealime time incremented every second break case 2 if time timerl gt 60L tasklstate 3 turnondevice2 timer2 time break case 3 if time time
172. ee irh 107 266 status register F 00 236 UNION woos 24 28 163 XSD ohets Goede eee 167 Stdio window 214 234 unpreserved registers 135 142 STDIO_DEBUG_SERIAL 214 unsigned oo eteeeeeeeee 163 Y Step OVET oe severe 199 unsigned integer PEER 21 E PE E R 167 stop program execution 199 untitled files woo 193 Storage class oe eee 24 USB snerta 222 AULO A oa aii Aen 28 USE_2NDFLASH_CODE 110 Stat sete Neate 28 264 STINGS enie 22 165 USCIX iere et 132 163 263 concatenation eee 22 Utility Programs FUNCTIONS oo eee eee eee 22 File Compression Decompres literal sess sie sstsses aristis 19 SLOD EEE ESE 291 terminating null byte 22 Font Bitmap Converter 293 struct keyword oe 161 Library File Encryption 291 structure Rabbit Field Utility 294 COMPOSItES oo eee eee 28 keyword 00 eeeececereeeeneeeeees 24 V NESUNE e e iE eiri 27 Wacables Offset of element 0 126 AUTO A RE TANTA 145 pass by value 31 e 28 return space 129 134 135 SATE adaesteauatonstassioteostes 161 returned by function 134 Vertical tiling cscsssccssseeeee 234 UMION 4 cessive Bsdecessestecebenvens 28 subscripts W nin ED AS 27 support files ceccssscessesseese 43 WATON reciente 164 SWItCH oecccccccccccccceees 35 150 162 walitfordone ccceeeceeeeeee 164 breaking out Of wo 33 Warning reports eese 224 CASE E AE E AT 162 wat
173. eee 152 with else eee eeeeecee ee ee 35 lt CTRL O gt FOR SEEE AE E EA 153 information window 234 237 Poll Target ccccsssssseee 200 BOLO eirio teorise torser 153 Dynamic C User s Manual 305 Tf oid Hiss sa Paxccedevesenoess votesees 154 FORD o5 css E cA deen 153 N INT OM sieisen 154 skipping to next pass 33 A Ax a cn ter atte ak AS 154 NAMES r E nRa 18 interrupt cesccssessesesscseeees 155 M x define a es interrupt_vector 156 ext error lt A B eee o EN eee ee E odee eey 121 157 190 202 E ee en Ce ot 225 263 264 CAE ee ha ctl E na 157 ILO R E eis 157 main function 24 38 157 264 T E 157 E HIES opiaplttia steontores 289 NOUSEIX 2 cide Neen 157 NUL k k hj costlanconbehties 157 LEI D EE iiss E EAEE 157 memory protected oo eee 158 address space us 107 O TEWE e araa 158 DATAORG 266 268 TOOL E eS 159 GUID nossos 201 octal integer cesses 21 SCSCHAIN n nrin 159 dump at address 202 offsets in assembly 126 132 sharedosreoseonieni esere 159 dump flash eeesseeeeee 202 133 SNOT 24 shtersevts aR 160 dump to file sees 202 online help 0 0 43 240 SIZE snie eere 160 etende ni 4 133 166 Operators onssosessssseoeeeseseeesee e 177 STA EE A 160 E ene ee 110 and macros 19 SPCEC e AE EEE 160 management 144 159 arithmetic operators 178 static oeceeeeeeeceessseseeeseeeeeees 161 MAP v
174. eee eee Wore e ee a SP Ecial ValS guier A EKIL suse Aen tadde z2 B clipboard ese paienn 194 Amakecha i oen aan 36 172 closing a file wo 193 Hmemmap eeeeeeeeeeeseeeee 172 266 backslash v CoData Structure we 50 nodebug 157 169 264 character literals perene 19 23 pointer TO R E 52 Fares ee n 2an 172 continuation in directives 168 COFUNCTIONS 2 eee 54 59 Pousti e e ea D EE 174 basic unit of a C program 24 abandon coos rreereeeeesressnensaes 58 HAE cee x we too cz duns nooo 21 baud rate cece 79 222 calling restrictions 55 Pe a ee 38 39 174 BCDE AEE 127 133 135 everytime L E AET 58 A E S 174 BeginHeader renbeteestves 39 40 41 firsttime EE seistveeseeeoss 152 E n n 174 binary operators s s s 177 indexed OSS 56 Girt ct aa ce cok oasocenaasn ta 174 BIOS sossennennvenseeeceeceeeeeeenneaneensiey 6 Single USCL oo eee 56 AXAMOTt cecesssssssecsesseseeseevee 175 xexit Seana sessesennnenrenneeeee 101 SYNCAK snan tee taten 54 ZIMPOT oann 175 calling premain sereen 67 cold loader sosssensnneenneeeccnecen 197 RETVAL ooocooooooccceeccee 134 command line compiler 242 column TESIZING sssrin 236 SP 129 132 133 134 142 Be ea Cooma GLOBAL INIT iii 159 compilation environments 259 TCP IP EE Si 223 curly braces sssscccssssssseee 23 compile option E VREES 286 compile configuration macros 105 BIOS nipatie 198 A 112 command line 241 258 control blocks 110 CL
175. efined with a def ine directive This directive must have a matching endif Chapter 12 Keywords 171 ifndef Syntax ifndef name This directive enables code compilation if name has not been defined with a define directive This directive must have a matching endif interleave nointerleave Controls whether Dynamic C will intersperse library functions with the program s functions dur ing compilation nointerleave forces the user written functions to be compiled first KILL Syntax KILL name To redefine a symbol found in the BIOS of a controller first KILL the prior name makechain Syntax makechain chainname Creates a function chain When a program executes the function chain named in this directive all of the functions or segments belonging to the function chain execute memmap Syntax memmap options Controls the default memory area for functions The following options are available e anymem NNNN When code comes within NNNN bytes of the end of root code space start putting it in xmem Default memory usage is memmap anymem 0x2000 e root All functions not declared as xmem go to root memory e xmem C functions not declared as root go to extended memory Assembly blocks not marked as xmem go to root memory See the description for xmem for more information on this key word 172 Dynamic C User s Manual pragma Syntax pragma nowarn warnt warns Trivial warnings warnt or tri
176. egments defined with segchain must appear in a function directly after data declarations and before executable statements as shown below my_function data declarations segchain chain x some statements which execute under chain_x segchain chain y some statements which execute under chain_y function body which executes when my function iscalled A program will call a function chain as it would an ordinary void function that has no parameters The following example shows how to call a function chain that is named recover makechain recover recover 36 Dynamic C User s Manual 4 20 Global Initialization Various hardware devices in a system need to be initialized not only by setting variables and con trol registers but often by complex initialization procedures Dynamic C provides a specific func tion chain GLOBAL INIT for this purpose Your program can add segments to the _GLOBAL_INIT function chain as shown in the example below leong my tunel Gnaw J 5 main my_func 100 long my func char j ioe aL 8 long array 256 The GLOBAL INIT section is automatically run once when the program starts up GLOBAL_INIT POI ae s 0p dearer 100p isr array mne return arrayljl only this code runs when the function is called The special directive GLOBAL INIT tells the compiler to add the code in the block enclosed in braces to the GLOBAL INIT func
177. emory management but there are instances where the programmer will want to take control of it Dynamic C has keywords and directives to help put code and data in the proper place The keyword root selects root memory addresses within the 64 KB physical address space The keyword xmem selects extended memory which means anywhere in the 1024 KB or 1 MB code space root and xmem are semantically meaningful in function prototypes and more effi cient code is generated when they are used Their use must match between the prototype and the function definition The directive memmap allows further control See Memory Manage ment on page 107 for further details on memory Dynamic C User s Manual 2 2 2 Dynamic C Differences The main differences in Dynamic C are summarized here and discussed in detail in chapters Lan guage on page 15 and Keywords on page 143 If a variable is explicitly initialized in a declaration e g int x 0 itis stored in flash memory EEPROM and cannot be changed by an assignment statement Such a declaration will generate a warning that may be suppressed using the const keyword const int x 0 To initialize static variables in Static RAM SRAM use GLOBAL INIT sections Note that other C compilers will automatically initialize all static variables to zero that are not explicitly initialized before entering the main function Dynamic C programs do not do this because in an embedded system you may
178. en calls func_b will the printf statement be reached The answer is no The order of compilation for module headers is sequential from the beginning of the file therefore the macro SECONDHEADER is undefined when the first module header is parsed If an application uses this library and then makes a call to func_a will that function s print statement be reached The answer is yes Since all the headers were compiled first the macro SECONDHEADER is defined when the first module body is compiled 4 23 3 Important Notes Remember that in a Dynamic C application there is only one file that contains main All other source files used by the file that contains main are regarded as library files Each library must be included in LIB DIR or a user defined replacement for LIB DIR Although Dynamic C uses LIB as the library extension you may use anything you like as long as the complete path is entered in your LIB DIR file There is no way to define file scope variables in Dynamic C libraries 42 Dynamic C User s Manual 4 24 Function Description Headers Each user callable function in a Z World library has a descriptive header preceding the function to describe the function Function headers are extracted by Dynamic C to provide on line help mes sages The header is a specially formatted comment such as the following example START FUNCTION DESCRIPTION 4 RRR KKK KKK KK KKK WrlOport lt IO LIB gt SYNTAX
179. enseeees 24 Solving the Real Time Problem 4 11 Prototypes eienen etss 25 with Cofunctions ccceceeeeees 59 4 12 Type Definitions EE a E A 25 5 6 Patterns of Cooperative Multitasking 59 4 13 Aggregate Data Types 27 5 7 Timing Considerations 0 00 ee 60 ATAY orea AS 27 waitfor Accuracy Limits 61 SUUCHUTEs iia noieeoe tales 27 5 8 Overview of Preemptive Multitasking61 Uni m seriene aes 28 5 9 Slice Statements 61 Composites eee eeeeeeeeeeeeeeeeeees 28 Slice Syntax nenen e 61 4 14 Storage Classes s sssssesiseeeeeeseeeseeesesee 28 U E E 62 4 TS Pointers roepen 29 Restrictions s seseeseeesreetsreetsrosesrese 62 4 16 Pointers to Functions Indirect Calls 30 Slice Data Structure eeeee 63 4 17 Argument Passing cece eee 31 Slice Internals cee scene 63 4 18 Program FLOW eceeeeessecteeeeeeeeeeee 32 SLO SumMM ary oirin n a 65 Loop A A 32 6 The Virtual Driver onn 67 Continue d BOAR nian ate 6 1 Default Operation ce ee eeeeceeeeeeee 67 Branching sienien 34 Dynamic C User s Manual iii 6 2 Calling GLOBAL_INIT 0 0 67 6 3 Global Timer Variables 0 00001000 68 6 4 Watchdog Timers 0 eee 69 Hardware Watchdog eee 69 Virtual Watchdogs 0 eee 69 6 5 Preemptive Multitasking Drivers 69 7 The Slave Port Driver cee 71 7 1 Slave Port Driver Protocol 71 OVVIE Wei n i 71 Registers on the Slave 0 0 71 Polling and
180. ent a lt lt 5 Shift a left 5 bits Same as a a lt lt 5 Right shift assignment a gt gt 5 Shift a right 5 bits Sameas a a gt gt 5 Chapter 13 Operators 181 Bitwise AND assignment a amp b AND a with b Sameas a a amp b Bitwise XOR assignment a b XOR a with b Sameas a a b Bitwise OR assignment a b OR a with b Sameas a a b 13 3 Bitwise Operators Shift left This is a binary operator The result is the value of the left operand shifted by the num ber of bits specified by the right operand int i OxFOOF J s lt lt 4 j gets 0Ox00FO The most significant bits of the operand are lost the vacated bits become zero Shift right This is a binary operator The result is the value of the left operand shifted by the num ber of bits specified by the right operand int i OxFOOF j i gt gt 4 j gets OxFFOO The least significant bits of the operand are lost the vacated bits become zero for unsigned vari ables and are sign extended for signed variables Address operator or bitwise AND As a unary operator this provides the address of a variable int x Z amp X z gets the address of x As a binary operator this performs the bitwise AND of two integer char int or long values int i OxFFFO int j Ox0OFFF Z i amp j z gets OxOFFO 182 Dynamic C User s Manual Bitwise exclusive OR A binary operator this perform
181. ent if the condition expression is true non zero The program will ignore the if body when the condition is false zero if expression some statement s 34 Dynamic C User s Manual A more complex form of the if statement tests the condition and executes certain statements if the expression is true and executes another group of statements when the expression is false if expression some statement s if true Jelse some statement s if false The fullest form of the if statements produces a succession of tests ti egr 4 some statements Weise if expr some statements else if expr some statements elsef some statements The program evaluates the first expression expr If that proves false it tries the second expres sion exprz and continues testing until it finds a true expression an else clause or the end of the if statement An else clause is optional Without an else clause an if else if state ment that finds no true condition will execute none of the controlled statements The switch statement the most complex branching statement allows the programmer to phrase a multiple choice branch differently switch expression case const statements break case const statements break case const3 statements 3 break default statement SDEFAULT First the switch expression is evaluated It must have an integer value If one of the consty values matches
182. er the slave port If the master is a Rabbit the functions in MASTER_ SERIAL LIB can be used to access the stream as though it came from a serial port on the slave 7 3 3 1 Slave Side of Stream Channel To set up the function SPShandler as the byte stream handler do the following SPsetHandler 10 SPShandler stream ptr This sets up the stream to use channel 10 on the slave A sample program in Section 7 3 3 2 shows how to set up and initialize the circular buffers An internal data structure SPSt ream keeps track of the buffers and a pointer to it is passed to SPsetHandler and some of the auxiliary functions that supports the byte stream handler This is also shown in the sample program 7 3 3 1 1 Functions These are the auxiliary functions that support the stream handler function SPShandler cbuf init void cbuf init char circularBuffer int dataSize DESCRIPTION This function initializes a circular buffer PARAMETERS circularBuffer The circular buffer to initialize dataSize Size available to data The size must be 9 bytes more than the number of bytes needed for data This is for internal book keeping LIBRARY RS232 LIB 92 Dynamic C User s Manual cof SPSread int cof SPSread SPStream stream void data int length unsigned long tmout DESCRIPTION Reads length bytes from the slave port input buffer or until tmout milliseconds tran spires between bytes after the first byte is read It wi
183. est 13 7 Postfix Expressions Grouping Expressions enclosed in parentheses are performed first Parentheses also enclose func tion arguments In the expression a b c 10 the term b cis evaluated first Array subscripts or dimension All array subscripts count from 0 int a 12 array dimension is 12 j alil references the ith element Chapter 13 Operators 185 The dot operator joins structure or union names and subnames in a reference to a structure or union element struct int x int y coord m coord x Right arrow Used with pointers to structures and unions instead of the dot operator typedef struct int x int y coord coord p pisa pointer to structure m p gt X reference to structure element 13 8 Reference Dereference Operators Address operator or bitwise AND As a unary operator this provides the address of a variable int x Z amp X z gets the address of x As a binary operator this performs the bitwise AND of two integer char int or long val ues int i OxFFFO int j OxOFFF Z i amp j z gets OxXOFFO 186 Dynamic C User s Manual Indirection or multiplication As a unary operator it indicates indirection When used in a declara tion indicates that the following item is a pointer When used as an indirection operator in an expression provides the value at the address specified by a pointer int p p
184. et controller with Dynamic C running the normal code and debugging features are enabled Dynamic C places an RST 28H instruction at the beginning of each C statement to provide locations for breakpoints This allows the programmer to single step through the program or to set breakpoints It is possible to single step through assembly code at any time During debugging there is additional overhead for entry and exit bookkeeping and for checking array bounds stack corruption and pointer stores These jumps to the debugger con sume one byte of code space and also require execution time for each statement At some point the Dynamic C program will be debugged and can run on the target controller without the Dynamic C debugger This saves on overhead when the program is executing The nodebug keyword is used in the function declaration to remove the extra debugging instructions and checks nodebug int myfunc int x int z If programs are executing on the target controller with the debugging instructions present but without Dynamic C attached the call to the function that handles RST 28H instructions in the vec tor table will be replaced by a simple ret instruction for Rabbit 2000 based targets For Rabbit 3000 based targets the RST 28H instruction is treated as a NOP by the processor when in debug mode The target controller will work but its performance will not be as good as when the node bug keyword is used Chapter 17 H
185. everse Find Next lt Alt F3 gt Behaves the same as Find Next except in the opposite direction If Find Next is searching for ward in the file Reverse Find Next will search backwards and vice versa Find in Files Grep lt Shift Ctrl F gt This option searches for text in the currently open file s or in any directory optionally includ ing subdirectories specified Standard Unix style regular expressions are used A window with the search results is displayed with an entry for each match found Double clicking on an entry will open the corresponding file and place the cursor on the search string in that file Multiple filetypes can be separated by semicolons For example entering C mydirectory 1lib c will search all 1ib and c files in mydirectory Go to Line Number Positions the insertion point at the beginning of the specified line Previous Error lt Ctrl Alt P gt Locates the previous compilation error in the source code Any error messages will be dis played in a list in the Compiler Messages window after a program is compiled Dynamic C selects the previous error in the list and displays the offending line of code in the text window Chapter 14 Graphical User Interface 195 Next Error lt Ctrl Alt N gt Locates the next compilation error in the source code Any error messages will be displayed in a list in the Compiler Messages window after a program is compiled Dynamic C selects the next error in the list and displ
186. example press lt Alt F gt to activate the FILE menu 14 2 1 File Menu Click the menu title or press lt Alt F gt to select the FILE menu Dynamic C Dist 8 00Beta2 New lt Ctrl N gt Edit Compile Aun Inspect Options Wit Creates a blank untitled program in a new win C New Ctrl N amp fn dow called the text window or the editor window gt Open Ctrl O If you right click anywhere in the text window a fel Save Ctrl S popup menu will appear It is available as a con i Save As SaveAll Shift CtreS A Close Ctrl F4 venience for accessing some frequently used commands Open lt Ctrl O gt Project gt Presents a dialog box to specify the name of a file FA Open to open To select a file type in the file name Print Preview Save pathnames ay be entered or Browse And bolagi amp Pint gO Save As it Unless there is a problem Dynamic C will EO Close present the contents of the file in a text window F Exit Alt F4 The program can then be edited or compiled Multiple files can be selected by either holding down lt Ctrl gt then clicking the left mouse on each filename you want to open or by dragging the selection rectangle over multiple filenames 192 Dynamic C User s Manual Save lt Ctrl S gt The Save command updates an open file to reflect changes made since the last time the file was saved If the file has not been saved before i e the file is a new untitled
187. fault GUI Equivalent Example Append header information if specified with h and all program errors warnings and outputs to a text file If the text file does not exist it will be created otherwise it will be appended None Go to Option Environment Options and select the Debug Windows tab Under Specific Preferences select Stdio and check Log to File under Options then check Append and specify the filename dccl_ cmp myProgram c oa MyOutput txt pbf PilotBIOSFilePathname Description Compile using a pilot BIOS found in Pi lotBIOSFilePathname Factory Default Bios Pilot bin GUI Equivalent None Example decl_ cmp myProgram c pbf MyPath MyPilot bin 254 Dynamic C User s Manual pf projectFilePathname Description Specify a project file to read before the command line switches are read The environment settings are taken from the project file specified with pf or default dcp if no other project file is specified Any switches on the command line regardless of their position relative to the pf switch will override the settings from the project file Factory Default The project file default dcp GUI Equivalent Select File Project Open Example decl_ cmp myProgram c ne 25 pf myProject dcp dcecl_ cmp myProgram c ne 25 pf myProject Note The project file extension dcp may be omitted pw TCPPassPhrase Description Enter the passphrase required for your TCP IP co
188. fferent types type casting does affect pointer arithmetic and pointer dereferences All pointer warnings are considered non serious as far as warning reports are concerned Warning Reports This tells the compiler whether to report all warnings no warnings or serious warn ings only It is advisable to let the compiler report all warnings because each warning is a potential run time bug Demotions such as converting a long to an int are considered non serious with regard to warning reports 224 Dynamic C User s Manual Optimize For Allows for optimization of the program for size or speed When the compiler knows more than one sequence of instructions that perform the same action it selects either the smallest or the fastest sequence depending on the programmer s choice for opti mization The difference made by this option is less obvious in the user application where most code is not marked nodebug The speed gain by optimizing for speed is most obvi ous for functions that are marked nodebug and have no auto local stack based variables BIOS Memory Setting A single default BIOS source file that is defined in the system registry when install ing Dynamic C is used for both compiling to RAM and compiling to flash Dynamic C defines a preprocessor macro FLASH RAM or FAST RAM_ depending on which of the following options is selected This macro is used to determine the rele vant sections of code to compile for the correspon
189. ffset instructions are as follows ld hl ix 1lg 2 load LSB of 1g lel 1a longs are normally stored in BC DE Tol epi ld hl ix 1g load MSB of 1g ex de hl This takes a total of 24 cycles The offset from IX is a signed 8 bit integer To use X offset the variable must be within 127 or 128 bytes of the frame reference point The SP method is the only method for accessing vari ables out of this range The SP symbol may be used even if IX is the frame reference pointer 132 Dynamic C User s Manual 11 4 3 2 Functions in Extended Memory If the xmem keyword is present Dynamic C compiles the function to extended memory Otherwise Dynamic C determines where to compile the function Functions compiled to extended memory have a 3 byte return address instead of a 2 byte return address Because the compiler maintains the offsets automatically there is no need to worry about the change of offsets The SP approach discussed previously as a means of accessing stack based variables works whether a function is compiled to extended memory or not as long as the C lan guage names of local variables and arguments are used A function compiled to extended memory can use IX as a frame reference pointer as well This adds an additional two bytes to argument offsets because of the saved IX value Again the X off set approach discussed previously can be used because the compiler maintains the offsets automat ically
190. file the Save As dialog will appear to prompt for a name Use the Save command often while editing to protect against loss during power failures or system crashes Save As Presents a dialog box to save the file under a new name To select a file name type it in the File name field The file will be saved in the folder displayed in the Save in field You may of course browse to another location You may also select an existing file Dynamic C will ask you if you wish to replace the existing file with the new one Save All lt Shift Ctrl S gt This command saves all modified files that are currently open Close lt Ctrl F4 gt Closes the active editor window The active window may also be closed by double clicking on its system menu If there is an attempt to close a modified file Dynamic C will ask you if you wish to save the changes The file is saved when Yes is clicked or y is typed If the file is untitled there will be a prompt for a file name in the Save As dialog Any changes to the doc ument will be discarded if No is clicked or n is typed Choosing Cancel results in a return to Dynamic C with no action taken Project Allows a project file to be created opened saved saved as a different name and closed See Chapter 16 for all the details on project files Print Setup Displays the Page Setup dialog box Margins page orientation page numbers and header and footer properties are all chosen here The Printer Setup
191. following it as a string literal For example if a macro is defined define report value fmt printf value fmt n value then the macro in report string s will expand to printf string s n string and because C always concatenates adjacent strings the final result of expansion will be printf string s n string The operator concatenates the preceding character sequence with the following character sequence deleting any white space in between For example given the macro define set x y z x z H _ y the macro in set AASC FN 6 will expand to AASC6_FN For parameters immediately adjacent to the operator the corresponding argument is not expanded before substitution but appears as it does in the macro call Chapter 4 Language 19 Generally speaking Dynamic C expands macro calls recursively until they can expand no more Another way of stating this is that macro definitions can be nested The exceptions to this rule are 1 Arguments to the and operators are not expanded 2 To prevent infinite recursion a macro does not expand within its own expansion The following complex example illustrates this define A B define B C define uint unsigned int define M x M x define MM x y z x y z define string something define write value fmt jOriimee value Ss seme Hal value The code tine Zp M M A A B write s
192. g GLOBAL INIT from an application program will cause reinitialization of anything that was initialized in the call made by premain 5 3 1 Solving the Real Time Problem with Costatements The Dynamic C costatement provides an easier way to control the tasks It is relatively easy to add a task that checks for the use of an emergency stop button and then behaves accordingly while 1 costat e ae we task 1 costate task 2 waitfor buttonpushed turnondevicel waitfor DelaySec 60L turnondevice2 waitfor DelaySec 60L turnoffdevicel turnoffdevice2 COSTES reat task n The solution is elegant and simple Note that the second costatement looks much like the original description of the problem All the branching nesting and variables within the task are hidden in the implementation of the costatement and its wait for statements 48 Dynamic C User s Manual 5 3 2 Costatement Syntax costate name state statement yield abort waitfor expression The keyword costate identifies the statements enclosed in the curly braces that follow as a cos tatement name can be one of the following e A valid C name not previously used This results in the creation of a structure of type CoData of the same name e The name of a local or global CoData structure that has already been defined e A pointer to an existing structure of type CoData Costatements can be named o
193. g program uses some of the FS2 API It writes several strings into a file reads the file back and prints the contents to the STDIO window use FS2 LIB define TESTFILE 1 main File file Static char buffer 256 Ta noie Oye if fcreate amp file TESTFILE amp amp fopen wr amp file TESTFILE printf error opening TESTFILE d n errno return 1 fseek amp file 0 SEEK END fwrite amp file hello 6 fwrite amp file 12345 6 fwrite amp file 67890 6 fseek amp file 0 SEEK SET while fread amp file buffer 6 gt 0 print s n buffer fclose amp file For a more robust program more error checking should be included See the sample programs in the Samples FILESYSTEM folder for more complex examples including error checking for matting partitioning and other new features Chapter 10 The Flash File System 119 120 Dynamic C User s Manual 11 Using Assembly Language This chapter gives the rules for mixing assembly language with Dynamic C code A reference guide to the Rabbit Instruction Set is available from the Help menu of Dynamic C and is also doc umented in the Rabbit 2000 3000 Microprocessor Instruction Reference Manual 11 1 Mixing Assembly and C Dynamic C permits assembly language statements to be embedded in C functions and or entire functions to be written in assembly language C statements may also be embedded in assembly code C la
194. g this parameter to NULL unloads the current handler handler params Pointer that will be saved and passed to the handler function each time it is called This allows the handler function to be parameterized for multiple cases RETURN VALUE 1 Success the handler was set 0 Failure LIBRARY SLAVE PORT LIB Chapter 7 The Slave Port Driver 75 MyHandler int MyHandler char command char data_in void params DESCRIPTION This function is a developer supplied function and can have any valid Dynamic C name Its purpose is to handle incoming commands from a master to one of the 256 channels on the slave port A handler function must be supplied for every channel that is being used on the slave port PARAMETERS command This is the received command byte data in The optional data byte params The optional parameters pointer RETURN VALUE This function must return an integer The low byte must contains the response code and the high byte contains the returned data if there is any LIBRARY This is a developer supplied function 76 Dynamic C User s Manual SPtick void SPtick void DESCRIPTION This function must be called periodically when the slave port is used in polling mode LIBRARY SLAVE PORT LIB Chapter 7 The Slave Port Driver 77 SPclose void SPclose void DESCRIPTION This function disables the slave port driver and unloads the ISR if one was used LIBRARY SLAVE PORT LIB
195. ge the value of any register Pushing registers values on the stack is a good way to save their val ues If the function return is a struct reserve space on the stack for the returned structure Most functions do not return structures Compute and push the last argument if any Compute and push the second to last argument if any Continue to push arguments if there are more Compute and push the first argument if any Also load the first argument into the primary reg ister HL for int unsigned int char and pointers or BCDE for long unsigned long and float if it is of a primitive type Issue the call instruction The caller must unwind the stack after the function returns 1 Recover the stack storage allocated to arguments With no more than 6 bytes of arguments the program may pop data 2 bytes at time from the stack Otherwise it is more efficient to com pute a new SP instead The following code demonstrates how to unwind arguments totaling 36 bytes of stack storage Note that HL is changed by this code Use ex de hl to save HL if HL has the return value epee Ele all save HL if required ld hl 36 want to pop 36 bytes add hl sp compute new SP value diel edal put value back to SP 7 7ex de hl restore HL if required 2 Ifthe function returns a struct unload the returned structure 3 Restore registers previously saved Pop them off if they were stored on the stack 4 Ifthe f
196. he watch window An expression is basically any type of C statement that can include operators variables and function calls but not statements that require multiple lines such as for or switch You can have a list of watch expressions in the Watches window If you are single stepping then they are all evaluated on each step You can also command the watch expression to be evaluated by using the lt Ctrl U gt command When a watch expression is evaluated at a breakpoint it is evaluated as if the statement was at the beginning of the function where you are single stepping Costatements A costatement is a Dynamic C extension that allows cooperative multitasking to be programmed by the user Keywords like abort and wait for are available to control multitasking operation from within costatements Chapter 3 Quick Tutorial 13 14 Dynamic C User s Manual 4 Language Dynamic C is based on the C language The programmer is expected to know programming meth odologies and the basic principles of the C language Dynamic C has its own set of libraries which include user callable functions Please see the Dynamic C Function Reference Manual for detailed descriptions of these API functions Dynamic C libraries are in source code allowing the creation of customized libraries Before starting on your application read through the rest of this chapter to review C language fea tures and understand the differences between standard C an
197. hrough the use directive The use directive identifies a file from which functions and data may be extracted Files identified by use directives are nestable as shown below The use directive is a replacement for the include directive which is not supported in Dynamic C Any library that is to be used in a Dynamic C program must be listed in the file LIB DIR or another DIR file specified by the user Starting with version Dynamic C 7 05 a different DIR file may be specified by the user in the Compiler Options dialog box to facilitate working on multiple projects Application use x lib use y lib main function function use z 1lib function fuse z lib Figure 4 1 Nesting Files in Dynamic C Most libraries needed by Dynamic C programs have a use statement in the file lib default h The Modules section later in this chapter explains how Dynamic C knows which functions and global variables in a library are available for use 38 Dynamic C User s Manual 4 22 Headers The following table describes two kinds of headers used in Dynamic C libraries Table 4 4 Dynamic C Library Headers Header Name Description Make functions and global variables in the library known to Module headers Dynamic C Describe functions Function headers form the basis for function Function Description headers lookup help You may also notice some Library Description headers at the t
198. ich may be a problem if the global defines or any file pathnames are lengthy strings Be careful when changing by hand not to change any of the section names in brackets or any of the key phrases up to and including the If a macro is defined on the command line with the d switch any value that may have been defined within the project file used will be overwritten without warning or error Undefining a macro with the d switch has no consequence if it was not previously defined Chapter 16 Project Files 261 262 Dynamic C User s Manual 17 Hints and Tips This chapter offers hints on how to speed up an application and how to store persistent data at run time 17 1 Efficiency There are a number of methods that can be used to reduce the size of a program or to increase its speed Let s look at the events that occur when a program enters a function e The function saves IX on the stack and makes IX the stack frame reference pointer if the program is in the useix mode e The function creates stack space for auto variables e The function sets up stack corruption checks if stack checking is enabled on e The program notifies Dynamic C of the entry to the function so that single stepping modes can be resolved if in debug mode The last two consume significant execution time and are eliminated when stack checking is dis abled or if the debug mode is off 17 1 1 Nodebug Keyword When the PC is connected to a targ
199. iels 143 ADOLES sei oerssvecsienssettvaen ieoesee reese 143 ANON AEEA E EE A ves 144 always_on se sessseeseessessresreesresresees 144 any meni neriie ieas nenei iis 144 fa a n EE NEE E E vices 145 AULG EEE 145 bbr hotena ereis 145 break 00 30 nn 146 Cotas E EE EEEE 146 CASE EEEE A E EE EEEE 146 CHAR eero na a enr sient 147 a n T N E ETT 148 CONDUG na aa 149 COSALC na uoo ea eins 149 debDUS anina e 149 default aeee a ai eire anaa 150 EE E E E 150 ClS REEE EEE T 150 OMIT DAEA EEE 151 EDA n a EAE EAE EEEE ENE 151 firsttime ee oni er ois e a 152 Dynamic C User s Manual PO At sess Meine aie Bee 152 FHMOUSEIX ceeesececeeseeeeseeeeeseees 174 POP EE eee lec hetiecs 153 EAT n a FAE 174 BOLO ereere raie NAAN 153 warntasmine sesoses 174 Ab esti AE ET 154 HXIMPOr weed a hese 175 IIt Oi ese eee a e tease 154 ZIMPOT ereere tna eiet eiei 175 Tt ASEAS ESEESE EEE 154 O sn eeecceeceeeeeeeeeeeeeeeees 155 13 Operators 200 0 cei ded eet eile 177 interrupt Vector c ccseeceseeeseeeees 156 13 1 Arithmetic Operators eee 178 lOn gio sae iia ate 156 AL S3 soi rA E A A ii 178 LTE Cee eee cf orth ene thir Oke One CO ht eter 178 odebrana 157 x bee eae P57 attttttesssssseenerecesessnussssssseeeeeseertnen 179 Aoise A te hee ate 157 EEE EE A 179 INU oe ig len A 157 PA a ele eit eee eat iin 180 protected 158 a ENE E EEEE 180 TOPUED sssssssssssssrsrrrserrreesrreesrteesreeesret 158 EE E EEEE ESE 180 TOOL
200. if the return is executed the second is the number of cycles if the return is not executed Sum Clock Cycles Check this to total the clock cycles for a block of instructions The block of instructions must be selected and highlighted using the mouse The total is displayed to the right of the number of clock cycles of the last instruction in the block This value assumes one execution per instruction so looping and branching must be considered separately Chapter 14 Graphical User Interface 215 Use Syntax Highlighting Toggle syntax highlighting Click on the Syntax tab to set the different colors Show Source Check this to display the Dynamic C statement corresponding to the assembly code Show File Name in Source Line Check this to prepend the file name to the Dynamic C statements correspond ing to the assembly code Register For this window you must choose one of the following conditions Show register his tory or Show registers as editable When the Register Contents window opens it will be in editable mode by default Selecting Show Register history will override the default setting Show register history In this mode a snapshot of the register and flag values is displayed every time program execution stops The line L and column C of the cursor is noted followed by the register and flag values The window is scrollable and sec tions may be selected with the mouse then copied and pasted Fil
201. il j The first dimension of an array does not have to be specified as long as an initialization list is specified iwe xit 4 f1 2 13 4h 15 E Py char string abcdefg 4 13 2 Structure Variables may be grouped together in structures Struct in C or in arrays Structures may be nested struct char flags struck IONE 59 LOE Wp loc Jp cureor Structures can be nested Structure members the variables within a structure are referenced using the dot operator j Cursor loe x The size of a structure is the sum of the sizes of its components Chapter 4 Language 27 4 13 3 Union A union overlays simple or complex data That is all the union members have the same address The size of the union is the size of the largest member union int ival long jval ie lone swell p j w Unions can be nested Union members the variables within a union are referenced like struc ture elements using the dot operator J U iVa 4 13 4 Composites Composites of structures arrays unions and primitive data may be formed This example shows an array of structures that have arrays as structure elements typedef struct int x ime ClS2 array in structure node node list 12 array of structures Refer to an element of array c above as shown here ma lige lal Elw Lisic Ol 22 Orem s 7p 4 14 Storage Classes Variable storage can be auto or static The term
202. information at the beginning of the buffer The number of entries is determined by the macro ERRLOG_NUM_ENTRIES default is 78 The size of each entry is dependent on the set tings of the global options for stack dump register dump and error message The default size of the buffer is about 4K in extended RAM 104 Dynamic C User s Manual 8 3 2 Initialization and Defaults An initialization of the error log occurs when the BIOS is compiled when cloning takes place or when the BIOS is loaded via the Rabbit Field Utility RFU By default error logging is enabled with messages turned off stack and register dumps turned on and an error log buffer big enough for 78 entries The error log buffer contains header information as well as an entry for each run time error A debug start up will zero out this header structure but the run time error entries can still be exam ined from Dynamic C using the static information in flash The header is at the start of the error log buffer and contains e A status byte e The number of errors since deployment e The index of the last error e The number of hardware resets since deployment e The number of watchdog time outs since deployment e The number of software resets since deployment e A checksum byte Deployment is defined as the first power up without the programming cable attached Repro gramming the board through the programming cable RFU or RabbitLink and starting the pro gram ag
203. ing examples if const was missing the compiler would generate a trivial warning Warnings for const can be turned off by changing the compiler options to report seri ous warnings only Note that const is not currently permitted with return types automatic locals or parameters and does not change the default storage class for cofunctions Example 1 ptr_to_x is aconstant pointer to an integer TAE Sep Ime Conget Cori Co x Se Example 2 cptr_to_i is a constant pointer to a constant integer COME atic 2 3 Conse lme Const Corci tO i Gil Example 3 axis a constant 2 dimensional integer array coast ime exla lal 12 3 L2 7 Example 4 struct reg int a char b 10 zedisa constant struct const struct rec zed 5 abc Example 5 cptr is a constant pointer to an integer typedef int ptr to int const ort tO iia Gorr sal this declaration is equivalent to the previous one iit GOiMmgit ACPE is 148 Dynamic C User s Manual continue Skip to the next iteration of a loop while expression if nothing to do continue costate Indicates the beginning of a costatement costate name state Name can be absent If name is present state can be always _onorinit_on If state is absent the costatement is initially off debug Indicates a function is to be compiled in debug mode This is the default case for Dynamic C func tions with the except
204. ingful in function prototypes and produces more efficient code when used Its use must be consistent between the prototype and the function definition root int func memmap root fasm root endasm segchain Identifies a function chain segment within a function int func int arg int vec 10 segchain GLOBAL INIT for i 0 i lt 10 i vec i 0 This example adds a segment to the function chain GLOBAL INIT Using segchain is equivalent to using the GLOBAL INIT directive When this function chain executes this and perhaps other segments elsewhere execute The effect in this example is to re initialize vec shared Indicates that changes to a multibyte variable such as a float are atomic Interrupts are dis abled when the variable is being changed Local variables cannot be shared shared float x Y Z shared int j main If i is a shared variable expressions of the form i ori i 1 constitute two atomic ref erences to variable i a read and a write Be careful because i is not an atomic operation Chapter 12 Keywords 159 short Declares that a variable or array is short integer 16 bits If nothing else is specified short implies a 16 bit signed integer short i j k 16 bit signed unsigned short int w 16 bit unsigned short funct short arg size Declares a function to be optimized for size as opposed to speed size int fun
205. ints and Tips 263 If the nodebug option is used for the main function the program will begin to execute as soon as it finishes compiling as long as the program is not compiling to a file Use the directive nodebug anywhere within the program to enable nodebug for all statements following the directive The debug directive has the opposite effect Assembly code blocks are nodebug by default even when they occur inside C functions that are marked debug therefore using the nodebug keyword with the asm directive is usually unnec essary 17 1 2 In line I O The built in I O functions WrPortI RdPortI BitWrPortI and BitRd Port I can be generated as efficient in line code instead of function calls All arguments must be constant A normal function call is generated if the I O function is called with any non constant arguments To enable in line code generation for the built in I O functions check the option Inline builtin I O functions in the Compiler dialog which is accessible by clicking the Compiler tab in the Project Options dialog 17 2 Run time Storage of Data Data that will never change in a program can be put in flash by initializing it in the declarations The compiler will put this data in flash See the description of the const xdata and xstring keywords for more information If data must be stored at run time and persist between power cycles there are several ways to do this using Dynamic C functions
206. ion back to the program when a domain or range error occurs and pass any other run time errors to Dynamic C 8 2 1 Replacing the Default Handler To tell the BIOS to use a custom error handler call this function void defineErrorHandler void errfcn This function sets the BIOS function pointer for run time errors to the one passed to it When a run time error occurs exception pushes onto the stack the information detailed in the table below Table 8 3 Stack setup for run time errors Address Data at address SP 0 Return address for error handler SP 2 Error code SP 4 Additional data user defined XPC when exception was called upper SP 6 byte SP 8 Address where exception was called from Then exception calls the installed error handler If the error handler passes the run time error to Dynamic C i e it is a fatal error and the system needs to be halted or reset then registers must be loaded appropriately before calling the xexit function Dynamic C expects the following values to be loaded Table 8 4 Register contents loaded by error handler before passing the error to Dynamic C Register Expected Value H XPC when exception was called L Run time error code HL Address where exception was called from Chapter 8 Run Time Errors 103 8 3 Run Time Error Logging Error logging is available as a BIOS enhancement for storing run time exception history I
207. ion of pure assembly language functions Library functions compiled in debug mode can be single stepped into and breakpoints can be set in them debug int func asm debug endasm Chapter 12 Keywords 149 default Identifies the default case in a switch statement The default case is optional It executes only when the switch expression does not match any other case switch expression case consti case const2 default do Indicates the beginning of a do loop A do loops tests at the end and executes at least once do while expression The statement must have a semicolon at the end else The false branch of an if statement if expression statement statement executes when expression is true else statement statment executes when expression is false 150 Dynamic C User s Manual enum Defines a list of named integer constants enum foo white default is O for the first item black willbe 1 brown will be 2 spotted 2 will be 2 striped will be 3 An enum can be declared in local or global scope The tag foo is optional but it allows further declarations enum foo rabbits To see a colorful sample of the enum keyword run samples enum c extern Indicates that a variable is defined in the BIOS later in a library file or in another library file Its main use is in module headers BeginHeader var extern int var
208. ion run but not suit able if battery backed SRAM was being used for part of the filesystem Chapter 10 The Flash File System 115 10 4 2 Logical Extents LX The presence of both devices causes an initial default configuration of two logical extents a k a LXs to be set up An LX is analogous to disk partitions used in other operating systems It represents a contiguous area of the device set aside for file system operations An LX contains sec tors that are all the same size and all contiguously addressable within the one device Thus a flash device with three different sector sizes would necessitate at least three logical extents and more if the same sized sectors were not adjacent Files stored by the file system are comprised of two parts one part contains the actual application data and the other is a fixed size area used to contain data controlled by the file system in order to track the file status This second area called metadata is analogous to a directory entry of other operating systems The metadata consumes one sector per file The data and metadata for a file are usually stored in the same LX however they may be separated for performance reasons Since the metadata needs to be updated for each write operation it is often advantageous to store the metadata in battery backed SRAM with the bulk of the data on a flash device 10 4 2 1 Specifying Logical Extents When a file is created the logical extent s
209. ion to be divided into small slices of a few milliseconds each and by the uC OS II real time kernel 5 1 Cooperative Multitasking In the absence of a preemptive multitasking kernel or operating system a programmer given a real time programming problem that involves running separate tasks on different time scales will often come up with a solution that can be described as a big loop driving state machines y Top of loop y State machine State machine State machine Figure 5 1 Big Loop Chapter 5 Multitasking with Dynamic C 45 This means that the program consists of a large endless loop a big loop Within the loop tasks are accomplished by small fragments of a program that cycle through a series of states The state is typically encoded as numerical values in C variables State machines can become quite complicated involving a large number of state variables and a large number of states The advantage of the state machine is that it avoids busy waiting which is waiting in a loop until a condition is satisfied In this way one big loop can service a large number of state machines each performing its own task and no one is busy waiting The cooperative multitasking language extensions added to Dynamic C use the big loop and state machine concept but C code is used to implement the state machine rather than C variables The state of a task is remember
210. ions marked not writable include the entire root code segment This feature adds code for every pointer reference Type Checking This menu item allows the following choices e Prototypes Performs strict type checking of arguments of function calls against the function prototype The number of arguments passed must match the number of parameters in the prototype In addition the types of arguments must match those defined in the prototype Z World recommends prototype checking because it identifies likely run time problems To use this feature fully all functions should have prototypes including functions implemented in assembly Demotion Detects demotion A demotion automatically converts the value of a larger or more complex type to the value of a smaller or less complex type The increasing order of complexity of scalar types is char unsigned int int unsigned long long float A demotion deserves a warning because information may be lost in the conver sion For example when a Long variable whose value is 0x 10000 is converted to an int value the resulting value is 0 The high order 16 bits are lost An explicit type casting can eliminate demotion warnings All demotion warnings are considered non serious as far as warning reports are concerned Pointer Generates warnings if pointers to different types are intermixed with out type casting While type casting has no effect in straightforward pointer assignments of di
211. irective to change back to the default behavior For example if a module body needs to have its storage class as static have a class static directive at the beginning of the module body and class auto at the end 40 Dynamic C User s Manual 4 23 1 3 Module Body Every line of code after the EndHeader comment belongs to the body of the module until 1 end of file or 2 the BeginHeader comment of another module Dynamic C compiles the entire body of a module if any of the names in the key or header are referenced anywhere in the application So keep modules small don t put all the functions in a library into one module If you look at the Dynamic C libraries you ll notice that many modules consist of one function This saves on code size because only the functions that are called are actually compiled into the appli cation To further minimize waste define code and data only in the body of a module It is recommended that a module header contain only prototypes and extern declarations because they do not gen erate any code by themselves That way the compiler will generate code or allocate data only if the module is used by the application program 4 23 2 Module Sample Code There are many examples of modules in the Lib directory of Dynamic C The following code will illustrate proper module syntax and show the scope of directives functions and variables BeginHeader ticks extern unsigned long ticks
212. isCoDone CoData p This function returns true if the costatement pointed to by p has completed int isCoRunning CoData p This function returns true if the costatement pointed to by p will run if given a continua tion call void CoBegin CoData p This function initializes a costatement s CoData structure so that the costatement will be executed next time it is encountered 52 Dynamic C User s Manual void CoPause CoData p This function will change CoData so that the associated costatement is paused When a costatement is called in this state it does an implicit yield until it is released by a call from CoResume or CoBegin void CoReset CoData p This function initializes a costatement s CoData structure so that the costatement will not be executed the next time it is encountered unless the costatement is declared always on void CoResume CoData p This function unpauses a paused costatement The costatement will resume the next time it is called 5 4 5 Firsttime Functions In a function definition the keyword firsttime causes the function to have an implicit first parameter a pointer to the CoData structure of the costatement that calls it The following firsttime functions are defined in COSTATE LIB For more information see the Dynamic C Function Reference Manual These functions should be called inside a wait for statement because they do not yield while waiting for the desired time to elapse
213. isplay as the number of spaces specified here i The macro STDIO_DEBUG_ SERIAL may be defined to redirect Stdio output to a des ignated serial port A B C or D For more information please see the sample program Samples STDIO_ SERIAL C 214 Dynamic C User s Manual Assembly Window The Assembly window displays the disassembled code from the program just com piled All but the opcode information may be toggled off and on using the checkboxes pictured below For more information about this window see Section 11 4 2 1 on page 131 m Specific Preferences Debug Windows Fonts and Colors Eorearaund olor Stack E Black zj E Registers Memory Dump Background Color Watch L_ write H Messages C White h l Fort J Wsefived pitch Courier New _ Apply Settings to All Options IV Show Addresses IV Use Syntax Highlighting IV Show Machine Code I Show Source IV Show Clock Cycles T Show File Name in Source Line IV Sum Clock Cycles cae Show Addresses Check this to show the logical address of the instruction in the far left column Show Machine Code Check this to show the hexidecimal number corresponding to the opcode of the instruction Show Clock Cycles Check this to show the number of clock cycles needed to execute the instruc tion in the far right column Zero wait states is assumed Two numbers are shown for conditional return instructions The first is the number of cycles
214. it unsigned unsigned funct unsigned arg Values in a 16 bit unsigned integer range from 0 to 65 535 instead of 32768 to 32767 Values in an unsigned long integer range from 0 to 2 1 useix Indicates that a function uses the IX register as a stack frame pointer useix void func See also nouseix and directives useix nouseix Chapter 12 Keywords 163 waitfor Used in a costatement this keyword identifies a point of suspension pending the outcome of a condition completion of an event or some other delay for costate waitfor input 1 HIGH waitfordone wfd The waitfordone keyword can be abbreviated as wfd It is part of Dynamic C s cooperative multitasking constructs Used inside a costatement or a cofunction it executes cofunctions and firsttime functions When all the cofunctions and firsttime functions in the wfd state ment are complete or one of them aborts execution proceeds to the statement following wfd Otherwise a jump is made to the ending brace of the costatement or cofunction where the w d statement appears when the execution thread comes around again control is given back to the wfd statement The wfd statements below are from Samples cofunc cofterm c x wfd login wd with one cofunction wfd wd with several cofunctions clrscr putat 5 5 name putat 5 6 password echoon As shown wfd may return an argument whi
215. ization may also be done For example This function outputs and returns the number of times it has been called int foo char count GLOBAL_INIT initialize count Copia Aes make port A output WrPortI SPCR SPCRShadow 0x84 output count WrPortI PADR NULL count increment and return count return count error Syntax error Instructs the compiler to act as if an error was issued The string in quotes following the directive is the message to be printed funcchain Syntax funcchain chainname name Adds a function or another function chain to a function chain 170 Dynamic C User s Manual if elif else endif Syntax if constant_expression elif constant expression else endif These directives control conditional compilation Combined they form a multiple choice if When the condition of one of the choices is met the Dynamic C code selected by the choice is compiled Code belonging to the other choices is ignored main HIRE BOARD TYPE define product Ferrari elif BOARD TYPE define product Maserati elif BOARD TYPE 3 define product Lamborghini else define product Chevy endif The e1if and else directives are optional Any code between an else and an endif is compiled if all values for constant_expression are false ifdef Syntax ifdef name This directive enables code compilation if name has been d
216. king OSStart void RandomNumberTask void pdata 7 Declare as auto to ensure reentrancy auto OS TCB data auto INT8U err auto INT16U RNum OSTaskQuery OS PRIO SELF amp data while 1 r Rand is not reentrant so access must be controlled via a semaphore OSSemPend RandomSem 0 amp err RNum int rand 100 OSSemPost RandomSem printf Task d s random d n data OSTCBPrio RNum Wait 3 seconds in order to view output from each task OSTimeDlySec 3 Chapter 18 uC OS II 281 Example 2 This application runs exactly the same code as Example 1 except that each of the tasks are created with 1024 byte stacks The main difference between the two is the configuration of uC OS II First each configuration constant that differs from the library default is defined The configuration in this example differs from the default in that it allows only two events the minimum needed when using only one semaphore 20 tasks no queues no mailboxes and the system tick rate is set to 32 ticks per second 1 Next since this application uses tasks with 1024 byte stacks it is neces sary to define the configuration constants differently than the library default 2 Notice that one 512 byte stack is declared Every Dynamic C program starts with an initial stack and defining STACK CNT 512 is crucial to ensure that the application has a stack to use during initialization and before multi t
217. l parameters It can how ever have arguments passed to it by the calling function When a program calls a function from C it puts the first argument into a primary register If the first argument has one or two bytes int unsigned int char pointer the primary register is HL with register H containing the most significant byte If the first argument has four bytes long unsigned long float the primary register is BC DE with register B containing the most significant byte Assembly language code can use the first argument very efficiently Only the first argument is put into the primary register while all arguments including the first pushed last are pushed on the stack C function values return in the primary register if they have four or fewer bytes either in HL or BC DE Assembly language allows assumptions to be made about arguments passed on the stack and auto variables can be defined by reserving locations on the stack for them However the offsets of such implicit arguments and variables must be kept track of If a function expects arguments or needs to use stack based variables Z World recommends using the embedded assembly techniques described in the next section 11 3 1 Stand Alone Assembly Code in Extended Memory Stand alone assembly functions may be placed in extended memory by adding the xmem keyword as a qualifier to asm as shown below Care needs be taken so that branch instructions do not jump beyond the cu
218. l the compila tion went Chapter 14 Graphical User Interface 237 14 2 8 Help Menu Click the menu title or press lt Alt H gt to select the HELP menu The choices are given below Online Documentation Opens a browser page and displays a file with links to other manuals When installing Dynamic C from CD this menu item points to the hard disk after a Web upgrade of Dynamic C this menu item optionally points to the Web Keywords Opens a browser page and displays an HTML file of Dynamic C keywords with links to their descriptions in this manual Operators Opens a browser page and displays an HTML file of Dynamic C operators with links to their descriptions in this manual HTML Function Reference Opens a browser page and displays an HTML file that has two links one to Dynamic C func tions listed alphabetically the other to the functions listed by functional group Each function listed is linked to its description in the Dynamic C Function Reference Manual Function Lookup Displays descriptions for library functions The keyboard shortcut is lt Ctrl H gt Pzd Library Function Lookup OF x Function Search _glMenulnit in E DC 8 LIB DISPLAYS GRAPHIC GLMENU LIB GPS LIB _glMenuKeypad in E DC 84LIBSDISPLAYS GRAPHIC GLMENU LIB 23 gt GRAPHIC LIB glMenuShadow in E DC 8 LIB DISPLAYS GRAPHICK GLMENU LIB A HDLC PACKET LIB ing in E S
219. lar function If the IX register is used for a frame reference pointer the previous value of IX is also kept in the stack frame Figure 11 1 shows the general appearance of a stack frame 128 Dynamic C User s Manual Stack Frame Last Auto Variable Optional Frame Reference Point Optional Return Address First Parameter pushed last Optional Lower Addresses o o Last Parameter stack grows down _ Structure Ret Optional M aae di Higher Addresses Figure 11 1 General Appearance of Assembly Code Stack Frame The return address is always necessary The presence of auto variables depends on the function definition The presence of arguments and structure return space depends on the function call The stack pointer may actually point lower than the indicated mark temporarily because of tem porary information pushed on the stack The shaded area in the stack frame is the stack storage allocated for auto variables The assem bler symbol SP represents the size of this area 11 4 1 1 The Frame Reference Point The frame reference point is a location in the stack frame that immediately follows the function s return address The IX register may be used as a pointer to this location by putting the keyword useix before the function or the request can be specified globally by the compiler directive useix The default is nouseix If the IX register is used as a frame reference pointer its pre
220. le Identifies the beginning of a while loop A while loop tests at the beginning and may exe cute zero or more times while expression 164 Dynamic C User s Manual xdata Declares a block of data in extended flash memory xdata name value 1 value_n The 20 bit physical address of the block is assigned to name by the compiler as an unsigned long variable The amount of memory allocated depends on the data type Each char is allocated one byte and each int is allocated two bytes If an integer fits into one byte it is still allocated two bytes Each float and long cause four bytes to be allocated The value list may include constant expressions of type int float unsigned int long unsigned long char and quoted strings For example xdata namel x46 x47 x48 x49 x4A x20 x20 xdata name2 R a b b i t xdata name3 Rules xdata name4 1 0 2 0 float 3 40e 01 5e00 6e1 The data can be viewed directly in the dump window by doing a physical memory dump using the 20 bit address of the xdata block See Samples Xmem xdata c for more information Chapter 12 Keywords 165 xmem Indicates that a function is to be placed in extended memory This keyword is semantically mean ingful in function prototypes Good programing style dictates its use be consistent between the prototype and the function definition That is if a function is defined as xmem int func
221. led section of code if condition goto RED RED Use goto to jump forward or backward in a program Never use goto to jump into a loop body or a Switch case The results are unpredictable However it is possible to jump out of a loop body or switch case Chapter 12 Keywords 153 if Indicates the beginning of an if statement if tank_full shut_off water if expression statements else if expression statements else if expression statements else if expression statements selse statements If one of the expressions is true they are evaluated in order the statements controlled by that expression are executed An if statement can have zero or more else if parts The else is optional and executes only when none of the if orelse if expressions are true non zero init on The costatement is initially on and will automatically execute the first time it is encountered in the execution thread The costatement becomes inactive after it completes or aborts int Declares variables function return values or array elements to be 16 bit integers If nothing else is specified int implies a 16 bit signed integer int i j k 16 bit signed unsigned int x 16 bit unsigned long int z 32 bit signed unsigned long int w 32 bit unsigned int funct int arg 154 Dynamic C User s Manual interrupt Indicates that a function is an interrupt service routine
222. limits h define CHAR BIT 8 define UCHAR MAX 255 define CHAR MIN 0 define CHAR MAX 255 define MB LEN MAX 1 define SHRT MIN 32768 define SHRT_ MAX 32767 define USHRT MAX 65535 define INT MIN 32767 define INT MAX 32767 define UINT MAX 65535 define LONG MIN 2147483647 define LONG MAX 2147483647 define ULONG MAX 4294967295 Chapter 4 Language 17 4 4 Names Names identify variables certain constants arrays structures unions functions and abstract data types Names must begin with a letter or an underscore _ and thereafter must be letters digits or an underscore Names may not contain any other symbols especially operators Names are dis tinct up to 32 characters but may be longer Names may not be the same as any keyword Names are case sensitive Examples my function ok _block ok cSt 32 ok jumper not ok uses a minus sign 3270type not ok begins with digit Cleanup the data now These names are not distinct in DC 6 19 Cleanup the data_later but are distinct in all later versions References to structure and union elements require compound names The simple names in a com pound name are joined with the dot operator period cursor loc x 10 set structure element to 10 Use the define directive to create names for constants These can be viewed as symbolic con stants See Section 4 5 Macros define READ 10 define WRITE 20 define ABS 0 define REL il
223. lines in the Assembly window and the total cycle time for the instructions that were selected will be displayed to the lower right of the selection If the total includes an asterisk that means an instruction with an indeterminate cycle time was selected suchas ldirorret nz Right click anywhere in the Disassembled Code window to display the following popup menu Copy Copies selected text in the Disas Copy pie Save to File Ctl S sembled Code window to the clip POOE Ctrl M board Move to Execution Point Ctrl E Save to File v Show Source Opens the Save As dialog to save v Show File Name in Source Line text selected in the Disassembled v Show Addresses Code window to a file If you do v Show Machine Code not specify an extension dasm v Show Clock Cycles will be appended to the file name En tos Gem Move to Address v Use Syntax Highlighting Opens the Disassemble at Address dialog so you can enter a new address Move to Execution Point Highlights the assembly instruction that will execute next and displays it in the Disassembled Code window All but the last menu option of the remaining items in the popup menu toggle what is dis played in the Disassembled Code window The last menu option Use Syntax Highlighting dis plays the colors that were set for the editor window in the Disassembled Code window as well To resize a column in the assembly window move the mouse pointer to one of the vertical bars that is bet
224. ll be placed in extended memory unless specifically marked root e All dependencies must be resolved Macros variables other functions etc before a function can be precompiled This may require precompiling other functions first See precompile 1ib for more information and examples Chapter 12 Keywords 173 undef Syntax undef identifier Removes undefines a defined macro use Syntax use pathname Activates a library named in 1ib dir so modules in the library can be linked with the applica tion program This directive immediately reads in all the headers in the library unless they have already been read useix nouseix Controls whether functions use the IX register as a stack frame reference pointer or the SP stack pointer register nouseix is the default Note that when the IX register is used as a stack frame reference pointer it is corrupted when any stack variable using function is called from within a cofunction or if a stack variable using func tion contains a call to a cofunction warns Syntax warns Instructs the compiler to act as if a serious warning was issued The string in quotes following the directive is the message to be printed warntasmine Syntax warnt Instructs the compiler to act as if a trivial warning was issued The string in quotes following the directive is the message to be printed 174 Dynamic C User s Manual ximport Syntax
225. ll yield to other tasks while waiting for data This function is non reentrant PARAMETERS stream Pointer to the stream state structure data Structure to read from slave port buffer length Number of bytes to read tmout Maximum wait in milliseconds for any byte from previous one RETURN VALUE The number of bytes read from the buffer LIBRARY SP_STREAM LIB Chapter 7 The Slave Port Driver 93 cof SPSwrite int cof SPSwrite SPStream stream void data int length DESCRIPTION Transmits length bytes to slave port output buffer This function is non reentrant PARAMETERS stream Pointer to the stream state structure data Structure to write to slave port buffer length Number of bytes to write RETURN VALUE The number of bytes successfully written to slave port LIBRARY SP_STREAM LIB SPSinit void SPSinit void DESCRIPTION Initializes the circular buffers used by the stream handler LIBRARY SP_STREAM LIB 94 Dynamic C User s Manual SPSread int SPSread SPStream stream void data int length unsigned long tmout DESCRIPTION Reads length bytes from the slave port input buffer or until tmout milliseconds tran spires between bytes If no data is available when this function is called it will return im mediately This function will call SPtick if the slave port is in polling mode This function is non reentrant PARAMETERS stream Pointer to the stream state structure data
226. lly recre ated as such in the exe path if it cannot be found when Dynamic C opens The default project will automatically become the active project with File Project Close The default project is special in that the command line compiler will use it for default values unless another project file is specified with the pf switch in which case the settings from the indi cated project will be used Please see chapter 15 Command Line Interface starting on page 241 for more details on using the command line compiler 16 1 3 Active Project Whenever a project is selected the current project related data is saved to the closing project file the new project settings become active and the possibly new BIOS will automatically be recom piled prior to compiling a source file in the new environment The active project can be factory dcp default dcp or any project you create with File Project Save As When Dynamic C opens it retrieves the last used project or the default project if being opened for the first time or if the last used project cannot be found If a project is closed with the File Projects Close menu option the default project default dcp becomes the active project The active project file name without path or extension is always shown in the leftmost panel of the status bar at the bottom of the Dynamic C main window and is prepended to the Dynamic C version in the title bar except when the active
227. loaded to a controller The Dynamic C installation created a desktop icon for the RFU The executable file rfu exe can be found in the subdirectory named Utilities where Dynamic C was installed Complete instructions are available by clicking on the Help button within the utility The Help document details setup information the file menu options and BIOS requirements The source code for the RFU may be purchased separately it is available on our website at www zworld com There is also a command line version of the RFU On the command line specify c1RFU SourceFilePathName options where SourceFilePathName is the path name of the bin file to load to the connected tar get The options are as follows s port baudrate Description Select the comm port and baud rate for the serial connection Default COM1 and 115 200 bps RFU GUI From the Setup Communications dialog box choose values from the Baud Equivalent Rate and Comm Port drop down menus Example c1RFU myProgram bin s 2 115200 t ipAddress tcpPort Description Select the IP address and port Default Serial Connection RFU GUI From the Setup Communications dialog box click on Use TCP IP Con Equivalent nection then type in the IP address and port for the controller that is receiving the bin file or use the Discover radio button Example cLRFU myProgram bin t 10 10 1 100 4244 294 Dynamic C User s Manual Description Defaul
228. log box will appear so that the file may be manually chosen 196 Dynamic C User s Manual 14 2 3 Compile Menu Click the menu title or press lt Alt C gt to select the COMPILE menu Dynamic C Dist 8 00Beta2 File Edit J Run Inspect Options Window Help ono a ol a B m lat o e fy Compile to Flash r BiH Compile to RAM 2 Compile to Flash Run in RAM ba Reset Target Compile BIOS Ctrl V Compile lt F5 gt Compiles a program and loads it to the target or to a bin file When you press lt F5 gt or select Compile from the Compile menu the active file will be compiled according to the current compiler options Compiler options are set in the dialog box accessed by the Compiler tab in the menu selection Options Project Options When compiling directly to the target Dynamic C queries the attached target for board information and creates macros to automatically con figure the BIOS and libraries Any compilation errors are listed in the automatically activated Compiler Messages window Press lt F1 gt to obtain more information for any error message that is high lighted in this win dow Compile to Target Expands to one of 3 choices e Compile to Flash e Compile to RAM e Compile to Flash Run in RAM These options override any BIOS Memory Setting choice made from the Compiler tab in the menu selection Options Project Options Compile to bin File Compiles a program and writes the image to
229. logical sub expressions Begins and ends a compound statement a function body a structure or union body or encloses a function chain segment Indicates that the rest of the line is a comment and is not compiled Comments are nested between the and tokens 16 Dynamic C User s Manual 4 3 Data Data variables and constants have type size structure and storage class Basic aka primitive data types are shown below Table 4 3 Dynamic C Basic Data Types Data Type Description char 8 bit unsigned integer Range 0 to 255 OxFF int 16 bit signed integer Range 32 768 to 32 767 unsigned int 16 bit unsigned integer Range 0 to 65 535 long 32 bit signed integer Range 2 147 483 648 to 2 147 483 647 unsigned long 32 bit unsigned integer Range 0 to hi 32 bit IEEE floating point value The sign bit is 1 for negative values The exponent has 8 bits giving exponents from 127 to float 128 The mantissa has 24 bits Only the 23 least significant bits are stored the high bitis 1 implicitly Rabbit controllers do not have floating point hardware Range 1 18 x 10 38 to 3 40 x 10 8 EE Defines a list of named integer constants The integer constants are signed and in the range 32 768 to 32 767 4 3 1 Data Type Limits The following symbolic names for the hardcoded limits of the data types are defined in
230. lue The program above calculates the sum of squares of two numbers g and h which are initialized to 10 and 12 respectively The main function calls the init function to give values to the global variables g and h Then it uses the sumSquare function to perform the calculation and assign the result of the calculation to the variable x It prints the result using the library function printf which includes a formatting string as the first argument Notice that all functions have and enclosing their contents and all variables are declared before use The functions init and sumSquare were defined before use but there are alternatives to this The Prototypes section explained this 26 Dynamic C User s Manual 4 13 Aggregate Data Types Simple data types can be grouped into more complex aggregate forms 4 13 1 Array A data type whether it is simple or complex can be replicated in an array The declaration int item 10 An array of 10 integers represents a contiguous group of 10 integers Array elements are referenced by their subscript J dicen lial 5 The nth element of item Array subscripts count up from 0 Thus item 7 above is the eighth item in the array Notice the and enclosing both array dimensions and array subscripts Arrays can be nested The fol lowing doubly dimensioned array or array of arrays int matrix 7 3 is referenced in a similar way scale matrix
231. ly Language 137 The following example from RS232 LIB illustrates the new I amp D space compatible way of mod ifying interrupt vectors The following code fragment to set up the interrupt service routine for the periodic interrupt from Dynamic C 7 25 is not compatible with separate I amp D space asm xmem Old method ld a iir get the offset of interrupt table ld h a ld 1 0x00 ld iy hl ld iy 0c3h Jp instruction entry inc iy ld hl periodic_isr set service routine ld iy hl endasm The following code fragment shows an I amp D space compatible method for setting up the ISR for the periodic interrupt in Dynamic C 7 30 asm xmem New method ld a 0xc3 jp instruction entry ld hl periodic _isr set service routine ld INTVEC_BASE PERIODIC OFS a _ write to the interrupt table ld INTVEC_BASE PERIODIC OFS 1 hl endasm When separate I amp D space is enabled INITVEC_BASE points to a proxy interrupt vector table in RAM that is modifiable The code above assumes that the actual interrupt vector table pointed to by the IIR is set up to point to the proxy vector When separate I amp D space is disabled INTVEC_BASE and the IIR point to the same location The code above is an example only the default configuration for the periodic interrupt is not modifiable 138 Dynamic C User s Manual The following example from RS232 LIB illustrates the new I amp D space compatible way of mod ifying interr
232. mple below if cond_RED is true more statements will not be executed and control will pass to the next statement after the ending curly brace of the for loop for 41 0 cen 4 jo some statements if cond RED break more statements The break keyword also applies to the switch case statement described in the next section The break statement jumps out of the innermost control structure loop or switch statement only Chapter 4 Language 33 There will be times when break is insufficient The program will need to either jump out more than one level of nesting or there will be a choice of destinations when jumping out Use a goto statement in such cases For example while some statements for 2 0 i lt n i9 4 some statements if cond RED goto yyy some statements if code BLUE goto marp more statements YYY handle cond_RED ZZZ handle code BLUE 4 18 3 Branching The goto statement is the simplest form of a branching statement Coupled with a statement label it simply transfers program control to the labeled statement some statements abc other statements goto abc more statements goto def def more statements The colon at the end of the labels is required In general the use of the goto statement is discour aged in structured programming The next simplest form of branching is the if statement The simple form of the if statement tests a condition and executes a statement or compound statem
233. ms This appendix documents the utility programs available from Z World All of these utilities are easy to use e Library File Encryption Utility sold separately as an add on module It may be obtained on our website www zworld com e File Compression Utility bundled with Dynamic C e Font and Bitmap Converter bundled with Dynamic C Rabbit Field Utility RFU bundled with Dynamic C source code sold separately C 1 Library File Encryption Utility The Library File Encryption Utility allows distribution of sensitive runtime library files Complete instructions are available by clicking on the Help button within the utility Encrypt exe Con text sensitive help is accessed by positioning the cursor over the desired subject and hitting lt F1 gt The encrypted library files compile normally but cannot be read with an editor The files will be automatically decrypted during Dynamic C compilation but users of Dynamic C will not be able to see any of the decrypted contents except for function descriptions for which a public interface is given An optional user defined copyright notice is put at the beginning of an encrypted file C 2 File Compression Utility Dynamic C has a compression utility feature The default utility implements an LZSS style com pression algorithm Support libraries to decompress files achieve a throughput of 10 KB s to 20 KB s number of bytes in uncompressed file time to decompress entire file using Read
234. n 19200 lhoeyoiimaite 5 while 1 loophead wid c cof serAgetc wid cof serAputc c serAclose 5 5 6 Types of Cofunction Calls A wfd statement makes one of three types of calls to a cofunction 5 5 6 1 First Time Call A first time call happens when a wfd statement calls a cofunction for the first time in that state ment After the first time only the original w d statement can give this cofunction instance con tinuation calls until either the instance is complete or until the instance is given another first time call from a different statement 5 5 6 2 Continuation Call A continuation call is when a cofunction that has previously yielded is given another chance to run by the enclosing wfd statement These statements can only call the cofunction if it was the last statement to give the cofunction a first time call or a continuation call 5 5 6 3 Terminal Call A terminal call ends with a cofunction returning to its w d statement without yielding to another cofunction This can happen when it reaches the end of the cofunction and does an implicit return when the cofunction does an explicit return or when the cofunction aborts Chapter 5 Multitasking with Dynamic C 57 5 5 6 4 Lifetime of a Cofunction Instance This stretches from a first time call until its terminal call or until its next first time call 5 5 7 Special Code Blocks The following special code blocks can appear inside a cofunction
235. n 4 Aligns on a 32 bit 4 byte boundary align 100h Aligns the code to the next address that is evenly divisible by 0x 100 align sizeof int 4 Complex expression involving sizeof and integer constant Note that integer expressions are treated the same way as operand expressions for other asm oper ators so variable labels are resolved to their addresses not their values always on The costatement is always active Unnamed costatements are always on anymem Allows the compiler to determine in which part of memory a function will be placed anymem int func memmap anymem asm anymem endasm 144 Dynamic C User s Manual asm Use in Dynamic C code to insert one assembly language instruction If more than one assembly instruction is desired use the compiler directive asm instead int func int X Y Z asm ld hl1 0x3333 auto A functions s local variable is located on the system stack and exists as long as the function call does int func auto float x bbram Identifies a variable to be placed into a second data area reserved for battery backed RAM with boards with more than one RAM device Generally the battery backed RAM is attached to CS1 due to the low power requirements In the case of a reset or power failure the value of a boram variable is preserved but not atomically like with protected variables No software check is possible to ensure that the RAM is battery backed This re
236. n a wait for statement yield The yield statement makes an unconditional exit from a costatement or a cofunction Execu tion continues at the statement following yield the next time the costatement or cofunction is encountered abort The abort statement causes the costatement or cofunction to terminate execution If a cos tatement is always_on the next time the program reaches it it will restart from the top If the costatement is not always_on it becomes inactive and will not execute again until turned on by some other software A costatement can have as many C statements including abort yield and wait for state ments as needed Costatements can be nested 5 4 Advanced Costatement Topics Each costatement has a structure of type CoData This structure contains state and timing infor mation It also contains the address inside the costatement that will execute the next time the pro gram thread reaches the costatement A value of zero in the address location indicates the beginning of the costatement 5 4 1 The CoData Structure typedef struct char CSState unsigned int lastlocADDR char lastlocCBR char ChkSum char firsttime union unsigned long ul struct unsigned int ul unsigned int u2 us content char ChkSum2 CoData 50 Dynamic C User s Manual 5 4 2 CoData Fields CSState The CSState field contains two flags STOPPED and INIT The possible flag values and their meaning are in the tabl
237. nd executing a long call to switch to the new task The remainder of 11 is executed when a previ ously preempted task is allowed to run again Listing 1 asm taskaware isr push af push regs needed by isr 1 push hl clear interrupt source 2 ld hl bios intnesting increase the nesting count 3 inc hl ipres optional 4 do processing necessary for interrupt ld a OSRunning MCOS multitasking yet 5 or a TE z taisr decnesting possibly signal task to become ready 6 call OSIntExit sets bios_swpend if higher prio ready 7 Chapter 18 uwC OS II 275 taisr decnesting push ip 8 ipset 1 ld hl bios intnesting nesting counter 1 dec hl 9 jr nz taisr noswitch ld a bios _swpend switch pending 10 or a jx z taisr noswitch push de 11 push be ex af af push af exx push hl push de push be push ly lcall bios intexit pop iy pop be pop de pop hl exx pop af ex af af pop be pop de taisr noswitch pop ip taisr done pop hl 12 pop af ipres ret endasm 276 Dynamic C User s Manual 18 3 Library Reentrancy When writing a uwC OS II application it is important to know which Dynamic C library functions are non reentrant If a function is non reentrant then only one task may access the function at a time and access to the function should be controlled with a uC OS II semaphore The following is a list of Dynamic C functions that are non reen
238. nd Partitioning the File System seiis ink asi 115 Initial Formatting 115 Logical Extents LX eee 116 Logical Sector Size 117 10 5 File Identifiers 0 eee 117 File Numbers eeeceeseceeeeeeeee 117 File Names seeeceeseceseeceeeeeeee 118 10 6 Skeleton Program Using FS2 119 11 Using Assembly Language 0 00 121 11 1 Mixing Assembly and C 121 Embedded Assembly Syntax 121 Embedded C Syntax 122 Setting Breakpoints in Assembly 122 11 2 Assembler and Preprocessor 123 Comments nepino 123 Defining Constants 0 0 123 Multiline Macros ee eeeeeeeeeeeee 125 Labels mipi i Gevteonnceents 125 Special Symbols 0 0 0 eee 125 C Variables nsss 126 11 3 Stand Alone Assembly Code 127 Stand Alone Assembly Code in Extended Memoty 0006 127 Example of Stand Alone Assembly Coderen ena 128 11 4 Embedded Assembly Code 128 The Stack Frame eee 128 Embedded Assembly Example 130 Local Variable Access 00 132 11 5 C Calling Assembly 133 Passing Parameters 133 Location of Return Results 133 11 6 Assembly Calling Co ee 135 11 7 Interrupt Routines in Assembly 136 Steps Followed by an ISR 136 Modifying Interrupt Vectors 137 11 8 Common Problems 142 12 Keywords ccc0scc na gia ianieinaiss 143 abandOn 2 ccsissscevecsicgeeest
239. nguage variables may be accessed by the assembly code 11 1 1 Embedded Assembly Syntax Use the asm and endasm directives to place assembly code in Dynamic C programs For example the following function will add two 64 bit numbers together The same program could be written in C but it would be many times slower because C does not provide an add with carry operation adc void eightadd char chl char ch2 asm ld hl sp SP ch2 get source pointer ex de hl save in register DE ld hl sp SP ch1 get destination pointer ld b 8 number of bytes xor a clear carry loop ld a de ch2 source byte adc a h1 add ch1 byte ld hl a store result to ch1 address inc hl increment ch1 pointer inc de increment ch2 pointer djnz loop do 8 bytes ch1 now points to 64 bit result endasm The keywords debug and nodebug can be placed on the same line as asm Assembly code blocks are nodebug by default This saves space and unnecessary calls to the debugger kernel All blocks of assembly code within a C function are assembled in nodebug mode The only excep tion to this is when a block of assembly code is explicitly marked with debug Any blocks marked debug will be assembled in debug mode even if the enclosing C function is marked nodebug Chapter 11 Using Assembly Language 121 11 1 2 Embedded C Syntax A C statement may be placed within assembly code by placing a c in column 1 Note that
240. nnection If no pass phrase is required this option need not be used Factory Default No passphrase GUI Equivalent Enter the passphrase required at the dialog prompt when compiling over a TCP IP connection Example dccl_ cmp myProgram c pw My passphrase ret Retries Description Factory Default GUI Equivalent Example The number of times Dynamic C attempts to establish communication if the given timeout period expires 3 None decl cmp myProgram c ret 5 Chapter 15 Command Line Interface 255 rf RTIFilePathname Description Compile to a bin file using targetless compilation parameters found in RTTFilePathname The resulting compiled file will have the same path name as the source c file being compiled but with a bin extension Factory Default None GUI Equivalent Example dcecl_ cmp myProgram c rf MyTCparameters rti dccl_ cmp myProgram c rf My Long Pathname MyTCpa rameters rti rti BoardID CpulD CrystalSpeed RAMSize FlashSize Description Compile to a bin file using parameters defined in a colon separated for mat of BoardID CpuID CrystalSpeed RAMSize FlashSize The resulting compiled file will have the same pathname as the source c file being compiled but with a bin extension BoardID Hex integer CpuID 2000r or 3000r where is the revision number of the CPU 2000r0 corresponds to IQ2T 2000r1 corresponds to IQ3T 2000r2 corresponds to IQ4T 2000r3
241. nodebug is in effect execution continues until code compiled without the nodebug key word is encountered Source Step Over lt Alt F8 gt Executes one C statement without descending into functions when the assembly window is open Toggle Breakpoint lt F2 gt Toggles a regular soft breakpoint at the current cursor location Soft breakpoints do not affect the interrupt state at the time the breakpoint is encountered whereas hard breakpoints do Chapter 14 Graphical User Interface 199 Toggle Hard Breakpoint lt Alt F2 gt Toggles a hard breakpoint at the current cursor location A hard breakpoint differs from a soft breakpoint in that interrupts are disabled when the hard breakpoint is reached Clear All Breakpoints lt Ctrl A gt Self explanatory Poll Target lt Ctri L gt This menu option used to be named Toggle Polling A check mark indicates that Dynamic C will poll the target The absence of a check mark indicates that Dynamic C will not poll the target This differs from Toggle Polling in that Dynamic C will not restart polling without the user explicitly requesting it Reset Program lt Ctrl F2 gt Resets program to its initial state The execution cursor is positioned at the start of the main function prior to any global initialization and variable initialization Memory locations not covered by normal program initialization may not be reset The initial state includes only the execution point program c
242. ns in watch expressions This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check Restrict watch expressions Don t restrict watch expressions Allow any expressions in watch expressions This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check Allow any expressions in watch expressions Optimize code generation for speed Optimize for speed Choose Speed in the Project Options Compiler dialog box Optimize code generation for size Optimize for speed Choose Size in the Project Options Compiler dialog box Enable type demotion checking Type demotion checking is performed Check Demotion in the Project Options Compiler dialog box Chapter 15 Command Line Interface 247 td Description Disable type demotion checking Factory Default Type demotion checking is performed GUI Equivalent Uncheck Demotion in the Project Options Compiler dialog box tp Description Enable type checking of pointers Factory Default Type checking of pointers is performed GUI Equivalent Check Pointer in the Project Options Compiler dialog box tp Description Disable type checking of pointers Factory Default Type checking of pointers is performed GUI Equivalent Uncheck P
243. ntifies a file within a logical extent File numbers must be unique within the entire file system FS2 accepts file numbers in word format typedef word FileNumber The low order byte specifies the file number and the high order byte specifies the LX number of the metadata 1 through number of LXs If the high order byte is zero then a suitable default LX will be located by the file system The default LX will default to 1 but will be settable via a define for file creation For existing files a high order byte of zero will cause the file system to search for the LX that contains the file This will require no or minimal changes to existing cus tomer code Only the metadata LX may be specified in the file number This is called a fully qualified file number FQFN The LX number always applies to the file metadata The data can reside on a dif ferent LX however this is always determined by FS2 once the file has been created Chapter 10 The Flash File System 117 10 5 2 File Names There are several functions in ZSERVER LIB that can be used to associate a descriptive name with a file The file must exist in the flash file system before using the auxiliary functions listed in the following table These functions were originally intended for use with an HTTP or FTP server so some of them take a parameter called servermask To use these functions for file naming purposes only this parameter should be SERVER_USER For a de
244. ntire file system Most applications will have a fixed number of files defined so this parameter can be set to that number to avoid wasting root data memory The default is 6 files The maximum value for this parameter is 255 FS2 RAM RESERVE This BIOS defined macro determines the amount of space used for FS2 in RAM If some battery backed RAM is to be used by FS2 then this macro must be modified to specify the amount of RAM to reserve The memory is reserved near the top of RAM Note that this RAM will be reserved whether or not the application actually uses FS2 Prior to Dynamic C 7 06 this macro was defined as the number of bytes to reserve and had to be a multiple of 4096 It is now defined as the number of blocks to reserve with each block being 4096 bytes FS2 SHIFT DOESNT UPDATE FPOS If this macro is defined before the Huse fs2 1ib statement in an application mul tiple file descriptors can be opened but their current position will not be updated if fshift is used FS2 USE PROGRAM FLASH The number of kilobytes reserved in the first flash for use by FS2 The default is zero The actual amount of flash used by FS2 is determined by the minimum of this macro and XMEM RESERVE SIZE XMEM RESERVE SIZE This BIOS defined macro is the number of bytes which must be a multiple of 4096 reserved in the first flash for use by FS2 and possibly other customer defined purposes This is defined in the BIOS as 0x0000 Memory set aside with
245. nu item or by clicking on the Debug Windows tab in Options Environment Options Select Memory Dump under Specific Preferences then check the option Allow automatic updates The Memory Dump window can be updated at any time by clicking the Update button on the tool bar or by right clicking and choosing Update from the popup menu The Memory Dump window is capable of displaying three different types of dumps A dump of a logical address 0x mmmm will result in a 64k scrollable region 0x0000 Oxffff A dump of a physical address 0x mmmmm will result in a dump of a 1M region 0x00000 Oxfffff A dump of an xpc offset address nn mmmm will result in either a 4k 64k or 1M dump range depending on the option set on the Debug Windows tab under Options Environ ment Options Any number of dump windows may be open at the same time The type of dump or dump region for a dump window can be changed by entering a new address in the toolbar s text entry area To the right of the this area is a button that when clicked will cause the address in the text entry area to be the first address in the Dump window The toolbar for a dump window may be hidden or visible Chapter 14 Graphical User Interface 203 Goto execution point lt Ctrl E gt When stopped in debug mode this option places the cursor at the statement or instruction that will execute next 14 2 6 Options Menu Click the Options menu title or press lt Alt O gt to select
246. ode Compile defined target configuration to bin file Factory Default Compile mode Compile to attached target GUI Equivalent Compile program F5 with Default Compile Mode set to Compile defined target configuration to bin file in Compiler tab of Project Options dialog 242 Dynamic C User s Manual h Description Factory Default GUI Equivalent Example h Description Factory Default GUI Equivalent id Description Factory Default GUI Equivalent id Description Factory Default GUI Equivalent Print program header information No header information will be printed None dccl_cmp samples demol c h o myoutputs txt Header text preceding output of program KOKK K K K K K K K K K K K K K K KK K K K K K K K K K 2K K K 2 K K K K KK K K K K K 2K K K K K KK K K K K ok K 4 5 01 2 47 16 PM dccl_cmp exe Version 7 10P English samples demo1 c Options h o myoutputs txt Program outputs Note Version information refers to dcwd exe with the same compiler core Disable printing of program header information No header information will be printed None Enable separate instruction and data space Separate I amp D space is disabled Check Separate Instruction amp Data Space in Project Options Compiler Disable separate instruction and data space Separate I amp D space is disabled Uncheck Separate Instruction amp Data Space in the Project Options
247. ode Opcode Cycles DEMO1 C 18 for j 0 j lt 20000 j 1e32 1120CE ld de OxCE20 6 1e35 Z2A9BC3 lad I a 1638 29 ada y Com CtrleC 1e39 3F oof Save to File Ctrl S 1e3a FC Ff Move to Address Ctrl M 1e3b ED52 sbe Move to Execution Point Ctrl E le3da D2521E jp OAE AICA TCA oo JP 5 v Show File Name in Source Line 1243 EF ret c v Show Addresses DEM0O1 C 18 for 3 0 43 lt 2000 a A 1e44 2 A9BC3 la v Show Machine Code 1e47 23 inc 1 Show Clock Cycles 1648 229BC3 ld v Sum Clock Cycles 1e4b C3311E jp E Use Syntax Highlighting le4e EF rst DEMO1 C 18 for 3 0 3 lt 20000 j 1e4f C3431E jp Ox1E43 7 1e52 EF rst 0x28 8 x The Disassembled Code window displays Dynamic C statements followed by the assembly instructions for that statement Each instruction is represented by the memory address on the far left followed by the code bytes for the instruction at that address followed by the mne monics for the instruction The last column shows the number of cycles for the instruction assuming no wait states The total cycle time for a block of instructions will be shown at the lowest row in the block in the cycle time column if that block is selected and highlighted with the mouse The total assumes one execution per instruction so the user must take looping and branching into consideration when evaluating execution times Chapter 14 Graphical User Interface 235 Use the mouse to select several
248. ointer in the Project Options Compiler dialog box tt Description Enable type checking of prototypes Factory Default Type checking of prototypes is performed GUI Equivalent Check Prototype in the Project Options Compiler dialog box tt Description Disable type checking of prototypes Factory Default Type checking of prototypes is performed GUI Equivalent Uncheck Prototype in the Project Options Compiler dialog box 248 Dynamic C User s Manual Vp Description Factory Default GUI Equivalent Vp Description Factory Default GUI Equivalent wa Description Factory Default GUI Equivalent WN Description Factory Default GUI Equivalent WS Description Factory Default GUI Equivalent Verify the processor by enabling a DSR check This should be disabled if a check of the DSR line is incompatible on your system for any reason Processor verification is enabled Check Enable Processor verification in the Project Options Communications dialog box Assume a valid processor is connected Processor verification is enabled Uncheck Enable Processor verification in the Project Options Communications dialog box Report all warnings All warnings reported Select All under Warning Reports in the Project Options Compiler dialog box Report no warnings All warnings reported Select None under Warning Reports
249. oject file specified except that now the macro MAXCHARS was first undefined before being redefined None None decl_ cmp myProgram c pf myproject d MAXCHARS d MAXCHARS 512 eto EthernetResponseTimeout Description Factory Default GUI Equivalent Example Time in milliseconds Dynamic C waits for a response from the target on any retry while trying to establish Ethernet communication 8000 milliseconds None dccl_ cmp myProgram c eto 6000 i InputsFilePathname Description Execute a program that requires user input by supplying the input in a text file Each input required should be entered into the text file exactly as it would be when entered into the Stdio Window in dcwd exe Extra input is ignored and missing input causes dccl_cmp to wait for keyboard input at the command line Factory Default None GUI Equivalent Using i is like entering inputs into the Stdio Window Example dccl_ cmp myProgram c i MyInputs txt 252 Dynamic C User s Manual If LibrariesFilePathname Description Factory Default GUI Equivalent Example Compile using a file found in LibrariesFilePathname which lists all librar ies to be made available to your programs Lib dir This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Check the box under User Defined Lib Directory File and then fill in the path name for th
250. om Configuration 00 0 279 Examples issscssesessetesscecsecsesstssconetss 280 18 5 Compatibility with TCP IP 283 Socket LOcKS sssini 283 18 6 Debugging Tips eee eee 284 Appendix A Macros and Global Variables 285 Compiler Defined Macros 285 Global Variables cece eects 287 Exception Types ceceeeeeeeeeeeees 288 Rabbit 2000 3000 Internal registers 288 Appendix B Map File Generation 289 Grammar ssie stneveves oriee 289 Appendix C Utility Programs 291 Library File Encryption Utility 291 File Compression Utility 291 Font and Bitmap Converter Utility 293 Rabbit Field Utility eee 294 Notice to USers e nians i irina 297 License Agreement eeeeeereererereereeee 299 Tide ainen e bee noe 303 vi Dynamic C User s Manual 1 Installing Dynamic C Insert the installation disk or CD in the appropriate disk drive on your PC The installation should begin automatically If it doesn t issue the Windows Run command and type the following command lt disk gt SETUP The installation program will begin and guide you through the installation process 1 1 Requirements Your IBM compatible PC should have at least one free COM port and be running one of the fol lowing e Windows 95 e Windows 98 e Windows 2000 e Windows Me e Windows NT 1 2 Assumptions It is assumed that the reader has a working knowledge of the basics
251. ompressed into a new FS2 file by using DecompressFile There are 3 sample programs to illustrate the use of file compression e Samples zimport zimport c demonstrates zimport e Samples zimport zimport_ fs2 c demonstrates file compression in combination with the file system e Samples tcpip http zimport c demonstrates file compression support using the http server C 2 1 1 File Compression Decompression API The file compression API consists of 7 functions 3 of which are of prime importance OpenInputCompressedFile open a compressed file for reading or open an uncom pressed ximport file for compression CloseInputCompressedFile close input file and deallocate memory buffers ReadCompressedFile perform on the fly decompression The remaining 4 functions are included for compression support for FS2 files OpenOutput CompressedFile open FS2 file for use with CompressFile CloseOutputCompressedFile close file and deallocate memory buffers CompressFile compress an FS2 file placing the result in a second FS2 file DecompressFile decompress an FS2 file placing the result in a second FS2 file Complete descriptions are available for these functions in the Dynamic C Function Reference Manual and also via the Function Lookup facility Ctrl H or Help menu There are several macros associated with the file compression utility ZIMPORT_ MASK Used to determine if the imported file is compressed zimport or
252. onfiguration uC OS II usually relies on the include file os_cfg h to get values for the configuration con stants In the Dynamic C implementation of uC OS II these constants along with their default values are in os_cfg 1ib A default stack configuration is also supplied in os_cfg 1ib uC OS II for the Rabbit uses a more intelligent stack allocation scheme than other wC OS II implementations to take better advantage of unused memory The default configuration allows up to 10 normally created application tasks running at 64 ticks per second Each task has a 512 byte stack There are 2 queues specified and 10 events An event is a queue mailbox or semaphore You can define any combination of these three for a total of 10 If you want more than 2 queues however you must change the default value of OS MAX QS Some of the default configuration constants are Maximum number of events semaphores queues mailboxes define OS MAX EVENTS 10 Maximum number of tasks less stat and idle tasks define OS MAX TASKS 10 Maximum number of queues in system define OS MAX QS 2 Maximum number of memory partitions define OS MAX MEM PART 1 Enable normal task creation define OS TASK CREATE EN 1 Disable extended task creation defineOS TASK CREATE EXT EN 0 Disable task deletion define OS TASK DEL EN 0 Disable statistics task creation define OS TASK STAT EN 0 Enable queue usage define OS Q EN 1
253. ons enclosed in quotation marks will be interpreted as a sin gle command line parameter decl_cmp myProgram c d DEFl text with spaces DEF2 define DEF1 text with spaces define DEF2 A backslash preceding a character will be kept except for semicolon quote and backslash which keep only the character following the backslash An escaped semicolon will not be interpreted as a macro separator and an escaped quote will not be interpreted as the quote defining the end of a command line parameter of text dccl_cmp myProgram c d DEFl statement ESCQUOTE define DEF1 statement define ESCQUOTE dccl_cmp myProg c d FSTR Temp 6 2F DEGREES C n define FSTR Temp 6 2f degrees C n Factory Default None GUI Equivalent Select the Defines tab from Project Options Chapter 15 Command Line Interface 251 d MacroToUndefine Description Factory Default GUI Equivalent Example Undefines a macro that might have been defined in the project file If a macro is defined in the project file read by the command line compiler and the same macro name is redefined on the command line the command line definition will generate a warning A macro previously defined must be undefined with the d switch before redefining it Undefining a macro that has not been defined has no consequence and so is always safe although possibly unnecessary In the example all compilation settings are taken from the pr
254. oos 107 289 decrement 00 180 SUCE e ett 161 read only ovsin 4 division ecceeceeeeeeee 179 SWItCH ennenen nii 162 PAE AREA N 108 126 159 266 increment 0 180 typedef oee neiseis 162 root keyword ossein 4 indirection 0 0 179 union gat Sart etka ES 163 memory management unit 4 MINUS o eeeeeeeeeeseeeees 178 unsigned oe eeeeeeeeeeeeeeee 163 107 modulus 0006 180 USIK Asian AaRin 163 menus multiplication 179 WALKOL oo cess eee 16 close all open veeesecsesssseee 192 plus H sentaraxsiaies 178 waitfordone 00 ee 164 Compile cccsceseseeseeee 197 pointers oo eee eee 179 WHE seeeeeeeeee rere 164 BCA Beat ann 194 post decrement 180 Xdata sess eeeessien 165 Piles an tats Surette 192 post increment 180 XMEM oo eseseseeeseeeeesssssssseee 166 Hel iu teusttelen tl ca ona 238 pre decrement 180 XST oai 167 Inspect nussin 201 235 pre increment 180 Vl dices Neetu 167 Options ssassn 204 assignment operators 181 L R n See hatha eta a at 199 add assign 181 Window sauiiecnaeus 234 AND assign amp 182 language elements 15 18 22 message window 195 196 234 assign vssseeeseesseeeseess 181 143 Metadata ccccceeeseeseeeeees 116 divide assign 181 Operators eesseseeeeeseeeeeeeen 17 gt MMU nsc 4 107 modulo assign 181 LIB DIR ee caz dearest 42 174 mode
255. op of library files These have no special meaning to Dynamic C they are simply comment blocks 4 23 Modules A Dynamic C library typically contains several modules Modules must be understood to write efficient custom libraries Modules provide Dynamic C with the names of functions and variables within a library that may be referenced by files that have a use directive for the library some where in the code Modules organize the library contents in such a way as to allow for smaller code size in the com piled application that uses the library To create your own libraries write modules following the guidelines in this section The scope of modules is global but indeterminate compilation order makes the situation less than straightforward Read this entire section carefully to understand module scope 4 23 1 The Parts of a Module A module has three parts the key the header and the body The structure of a module is BeginHeader funcl var2 prototype for funcl extern var2 EndHeader definition of funcl declaration for var2 possibly other functions and data A module begins with its BeginHeader comment and continues until either the next Begin Header comment or the end of the file is encountered Chapter 4 Language 39 4 23 1 1 Module Key The module key is ususally contained within the first line of the module header It is a list of func tion and data names separated by commas The list of names may
256. ounter memory map registers and the stack pointer The Reset Program command will not reload the program if the previ ous execution overwrites the code segment That is if your code is corrupted the reset will not be enough you will have to reload the program to the target Close Connection If using a serial connection disconnects the programming serial port between PC and target so that the target serial port is accessible to other applications If using a TCP IP connection closes the socket between the PC and the RabbitLink 200 Dynamic C User s Manual 14 2 5 Inspect Menu Click the menu title or press lt Alt I gt to open the INSPECT menu Ges em Options Window Help The INSPECT menu provides commands to manipulate A Q Add Watch Chile watch expressions view disassembled code and pro Q Delete Watch duce hexadecimal memory dumps The INSPECT menu Ak Delete All Watches commands and their functions are described here Ay q Update Watch Window Ctrl U Add Watch lt Ctrl W gt 4 Q Evaluate Expression This command displays the Add Watch Expression dia Tm Disassemble at Cursor Ctrl F10 log Enter watch expressions with this dialog box p Disassemble at Address Al F10 A watch expression may be any valid C expression E Dump At Address Ctrl D including assignments function calls and preprocessor Fea oe en macros Do not include a semicolon at the end of the expression If the watch expression
257. pb_isr serc_intvec spc_isr serd_intvec spd_isr sere _intvec spe isr serf_intvec spf isr User defined a Please note that this ISR shares the same interrupt vector as DevMateSeriallISR Using spa_isr precludes Dynamic C from communicating with the target Chapter 11 Using Assembly Language 141 11 8 Common Problems Unbalanced stack Ensure the stack is balanced when a routine returns In other words the SP must be same on exit as it was on entry From the caller s point of view the SP register must be identical before and after the call instruction Using the SP approach after pushing temporary information on the stack The SP approach for inline assembly code assumes that SP points to the low boundary of the stack frame This might not be the case if the routine pushes temporary information onto the stack The space taken by temporary information on the stack must be compensated for The following code illustrates the concept SP still points to the low boundary of the call frame push hl save HL SP now two bytes below the stack frame ld hl SP x 2 Add 2 to compensate for altered SP add hl sp compute as normal ld a hl get the content pop hl restore HL SP again points to the low boundary of the call frame Registers not preserved In Dynamic C the caller is responsible for saving and restoring all reg isters An assembly routine that calls a C function must assume that all
258. project is the default project Changes made to the compilation environment of Dynamic C are automatically updated to the active project unless the active project is factory dcp Chapter 16 Project Files 259 16 2 Updating a Project File Unless the active project is factory dcp changes made in the Project Options dialog will cause the active project file to be updated immediately Opening or closing files will not immediately update the active project file The project file state of the recently used files appearing at the bottom of the File menu selection and any opened files in edit windows will only by updated when the project closes or when File Projects Save is selected The Message Assembly Memory Dump Registers and Stack debug windows are not edit windows and will not be saved in the project file if you exit Dynamic C while debugging 16 3 Menu Selections The menu selections for project files are available in the File menu The choices are the familiar ones Create Open Save Save As and Close Choosing File Project Open will bring up a dialog box to select an existing project filename to become the active project The environment of the previous project is saved to its project file before it is replaced unless the previous project is factory dcp The BIOS will automatically be recompiled prior to the compilation of a source file within the new environment which may have a different library direc
259. qual oe eee 184 not equal oe 184 in assembly oe 123 logical operators 185 logical AND amp amp 185 logical NOT D oeae 185 logical OR II 185 operator precedence 189 postfix expressions 185 parentheses 185 array indices 185 dO sinioro 186 parentheses 0 185 right arrow gt eee 186 Precedence oo eects 177 reference dereference opera LOTS oaee er E 186 address amp cceesceeeee 186 bitwise AND amp 186 indirection 187 multiplication 187 relational operators 183 greater than gt 184 greater than or equal gt 184 less than lt eee 183 less than or equal lt 183 BIZOO i eenen ensia 188 META EEEE ETOT 177 optimize size or speed 227 options compiler oo eee 223 MENU sanii eesse 204 P PageDown key ee 191 PageUp key oes 191 Partitioning we 115 passing arguments 31 128 129 133 134 135 pasting text oe 194 periodic interrupt 53 62 67 269 280 287 pointer checking wo 30 pointers oo 22 29 31 uninitialized ee 30 poll target wee 200 POM Goss s2s0is ssecesagceseseiiny is 199 positioning text oe 195 precompile 0 40 173 preserving registers 135 142 Previous error lt CTRL P gt 195 primary register 127 133 135 primitive data types
260. quirement must be enforced by the user If interested please see the Rabbit 3000 Microprocessor Designer s Handbook for information on how the second data area is reserved On boards with a single RAM bbram variables will be treated the same as normal root variables No warning will be given the boram keyword is simply ignored when compiling to boards with a single RAM Chapter 12 Keywords 145 break Jumps out of a loop if or case statement while expression if condition break switch expression case 3 break c Use in assembly block to insert one Dynamic C instruction asm InitValues c start_time 0 c counter 256 ld hl 0xa0 ret endasm case Identifies the next case in a Switch statement switch expression case constant case constant case constant 146 Dynamic C User s Manual char Declares a variable or array element as an unsigned 8 bit character char c x string hello int i c char i type casting operator Chapter 12 Keywords 147 const This keyword declares that a value will be stored in flash thus making it unavailable for modifica tion const is a type qualifier and may be used with any static or global type specifier char int struct etc The const qualifier appears before the type unless it is modifying a pointer When modifying a pointer the const keyword appears after the In each of the follow
261. r Alt F8 execution Usually the debugger cannot stop within e F2 nodebug code On the other hand the target can be stopped at an RST 028h instruction if an RST 028h assembly code is inserted as inline assembly code in nodebug code However the debugger will never be able to find and place 6 Toggle Hard Breakpoint Alt F2 Pi Clear All Breakpoints Ctr Poll Target Ctrl L the execution cursor in nodebug code Reset Program Cil F2 Run w No Polling lt Alt F9 gt 4J3 Close Connection This command is identical to the Run command with one exception The PC polls the target every 3 seconds by default to determine if the target has crashed When debug ging via RabbitLink polling is used to make the RabbitLink keep its connection to the PC open Polling does have some overhead but it is very minimal If debugging ISRs it may be helpful to disable polling Trace Into lt F7 gt Executes one C statement or one assembly language instruction if the assembly window is displayed with descent into functions If nodebug is in effect and the Assembly window is closed execution continues until code compiled without the nodebug keyword is encoun tered Step Over lt F8 gt Executes one C statement or one assembly language instruction if the assembly window is displayed without descending into functions Source Trace Into lt Alt F7 gt Executes one C statement with descent into functions when the assembly window is open If
262. r unnamed If name is absent the compiler creates an unnamed structure of type CoData for the costatement state can be one of the following e always _on The costatement is always active This means the costatement will execute every time it is encountered in the execution thread unless it is made inactive by CoPause It may be made active again by CoResume e init _on The costatement is initially active and will automatically execute the first time it is encountered in the execution thread The costatement becomes inactive after it completes or aborts The costatement can be made inactive by CoPause If state is absent a named costatement is initialized in a paused init_on condition This means that the costatement will not execute until CoBegin or CoResume is executed It will then execute once and become inactive again Unnamed costatements are always on You cannot specify init on without specifying name Chapter 5 Multitasking with Dynamic C 49 5 3 3 Control Statements waitfor expression The keyword wait for indicates a special wait for statement and not a function call The expression is computed each time wait for is executed If true non zero execution pro ceeds to the next statement otherwise a jump is made to the closing brace of the costatement or cofunction with the statement pointer continuing to point to the wait for statement Any valid C function that returns a value can be used i
263. r2 gt 60L tasklstate 1 turnoffdevicel turnoffdevice2 break other tasks or state machines Chapter 5 Multitasking with Dynamic C 47 If there are other tasks to be run this control problem can be solved better by creating a loop that processes a number of tasks Now each task can relinquish control when it is waiting thereby allowing other tasks to proceed Each task then does its work in the idle time of the other tasks 5 3 Costatements Costatements are Dynamic C extensions to the C language which simplify implementation of state machines Costatements are cooperative because their execution can be voluntarily suspended and later resumed The body of a costatement is an ordered list of operations to perform a task Each costatement has its own statement pointer to keep track of which item on the list will be performed when the costatement is given a chance to run As part of the startup initialization the pointer is set to point to the first statement of the costatement The statement pointer is effectively a state variable for the costatement or cofunction It specifies the statement where execution is to begin when the program execution thread hits the start of the costatement All costatements in the program except those that use pointers as their names are initialized when the function chain GLOBAL INIT is called GLOBAL INIT is called automatically by pre main before main is called Callin
264. ration entirely from the key board Contents Invokes an on line help system and displays the contents page From here view explanations of various features of Dynamic C Tech Support Opens a browser window to the Rabbit Semiconductor Technical Support Center web page which contains links to user forums downloads for Dynamic C and information about 3rd party software vendors and developers Register Dynamic C Allows you to register your copy of Dynamic C A dialog is opened for entering your Dynamic C serial number From there you will be guided through the very quick registration process Tip of the Day Brings up a window displaying some useful information about Dynamic C There is an option to scroll to another screen of Dynamic C information and an option to disable the feature This is the same window that is displayed when Dynamic C initializes About The About command displays the Dynamic C version number and the copyright notice 240 Dynamic C User s Manual 15 Command Line Interface The Dynamic C command line compiler dccl_cmp exe performs the same compilation and program execution as its GUI counterpart dcrabxx exe but is invoked as a console applica tion from a DOS window It is called with a single source file program pathname as the first parameter followed by optional case insensitive switches that alter the default conditions under which the program is run The results of the compilation and execution all
265. re in Master _serial 1ib They are for a master using a serial port handler on a slave cof MSgetc int cof MSgetc char address DESCRIPTION Yields to other tasks until a byte is received from the serial port on the slave PARAMETERS address Slave channel address of the serial handler RETURN VALUE Value of the received character on success 1 Failure LIBRARY MASTER_SERIAL LIB 80 Dynamic C User s Manual cof MSputc void cof MSputc char address char ch DESCRIPTION Sends a character to the serial port Yields until character is sent PARAMETERS address Slave channel address of serial handler ch Character to send RETURN VALUE 0 Success character was sent 1 Failure character was not sent LIBRARY MASTER SERIAL LIB Chapter 7 The Slave Port Driver 81 cof MSread int cof MSread char address char buffer int length unsigned long timeout DESCRIPTION Reads bytes from the serial port on the slave into the provided buffer Waits until at least one character has been read Returns after buffer is full or timeout has expired be tween reading bytes Yields to other tasks while waiting for data PARAMETERS address Slave channel address of serial handler buffer Buffer to store received bytes length Size of buffer timeout Time to wait between bytes before giving up on receiving anymore RETURN VALUE gt 0 Bytes read 1 Failure LIBRARY MASTER SERIAL LIB
266. rent serial port in the Communications dia log box until you find the serial port you are plugged into Don t change anything in this menu except the COM number The baud rate should be 115 200 bps and the stop bits should be 1 3 1 1 Single Stepping _ _ s To experiment with single stepping we will first compile DEMO1 C to the target with z3 out running it This can be done by clicking the compile button on the task bar This is the same as pressing lt F5 gt Both of this actions will compile according to the setting of Default Compile Mode See Default Compile Mode in Chapter 14 for how to set this param eter Alternatively you may select Compile Compile to Target from the main menu After the program compiles a highlighted character green will appear at the first exe cutable statement of the program Press the lt F8 gt key to single step or use the toolbar button Each time the lt F8 gt key is pressed the cursor will advance one statement When you get to the statement for j 0 j lt it becomes impractical to single step further because you would have to press lt F8 gt thousands of times We will use this statement to illustrate watch expressions 3 1 2 Watch Expression Watch expressions may only be added deleted or updated while in run mode To add a Q watch expression click on the toolbar button pictured here or press lt Ctrl W gt or choose Add Watch from the Inspect menu The
267. ression exp3 that is evaluated at the end of each iteration Each of the three expressions is optional Gort expt p amp 392 p S3 J some statements If the end condition is initially false a for loop body will not execute at all A typical use of the for loop is to count n times Swim OF zorl i s 0 i lt mp irt Ji sum sum array Ee This loop initially sets i to 0 continues as long as i is less than n stops when i equals n and increments i at each pass Another use for the for loop is the infinite loop which is useful in control systems for some statement s 32 Dynamic C User s Manual Here there is no initial condition no end condition and no stepping expression The loop body some statement s continues to execute endlessly An endless loop can also be achieved with a while loop This method is slightly less efficient than the for loop while 1 some statement s 4 18 2 Continue and Break Two keywords are available to help in the construction of loops cont inue and break The continue statement causes the program control to skip unconditionally to the next pass of the loop In the example below if bad is true more statements will not execute control will pass back to the top of the while loop gert Cher s while EOF some statements if bad continue more statements The break statement causes the program control to jump unconditionally out of a loop In the exa
268. rrent xmem window To help prevent such bad jumps the compiler limits xmem assembly blocks to 4096 bytes Code that branches to other assembly blocks in xmem should always use 1jp or 1call asm xmem main lcall fcn_in_xmem lrer endasm asm xmem fcn _ in xmem lret endasm Chapter 11 Using Assembly Language 127 11 3 2 Example of Stand Alone Assembly Code The stand alone assembly function foo can be called from a Dynamic C function ime ee ime 5 A function prototype can be declared for stand alone assembly functions which will cause the compiler to perform the appropriate type checking main ime i jg weil j foo i asm HOONE KIRAZ The return value expected by main is put ret in HL just before foo returns endasm The entire program can be written in assembly asm main ret endasm 11 4 Embedded Assembly Code When embedded in a C function assembly code can access arguments and local variables either auto or Static by name Furthermore the assembly code does not need to manipulate the stack because the functions prolog and epilog already do so 11 4 1 The Stack Frame The purpose and structure of a stack frame should be understood before writing embedded assem bly code A stack frame is a run time structure on the stack that provides the storage for all auto variables function arguments and the return address for a particu
269. rror EEEN abl Edit Mode Paste lt Ctrl V gt FA Undo lt Cirl Z gt This option undoes recent changes in the active edit window The command may be repeated several times to undo multiple changes Undo operations have unlimited depth Two types of undo are supported applied to a single operation and applied to a group of the same operations 2 continuous deletes are consid ered a single operation Dynamic C only discards undo information if the Undo after save option is unchecked in the Editor dialog under Environment Options Redo lt Shift Ctrl Z gt Redoes changes recently undone This command only works immediately after one or more Undo opera tions Cut lt Ctrl X gt Removes selected text and saves to the clipboard Copy lt Ctrl C gt Makes a copy of text selected in a file or in a debug window The text is saved on the clipboard Pastes text from the clipboard to the current insertion point Nothing can be pasted in a debug ging window The contents of the clipboard may be pasted virtually anywhere repeatedly as long as nothing new is cut or copied into the clipboard in the same or other source files or even in word processing or graphics program documents Insert Code Template lt Ctrl J gt Opens the code template list at the current cursor location Clicking on a list entry or pressing lt Enter gt inserts the selected template at the cursor location in the active edit window The arrow
270. s Project Options Ed Communications Compiler Debugger Defines Targetless Debugger Options Max breakpoints 320 IV Enable watch expressions Max watch expressions fe IV Enable instruction level single stepping Enable Breakpoints If this box is checked the debug kernel will be able to toggle breakpoints on and off and will be able to stop at set breakpoints This is where you set the maximum number of breakpoints the debug kernel will support The debug kernel uses a small amount of root RAM for each breakpoint so reducing the number of breakpoints will slightly reduce the amount of root RAM used If this box is unchecked the debug kernel will be compiled without breakpoint sup port and the user will receive an error message if they attempt to add a breakpoint Enable Watch Expressions If this is checked watch expressions will be enabled This is where you set the maxi mum number of watch expressions the debug kernel will support The debug kernel uses a small amount of root RAM for evaluating each watch expression so reducing the amount of watches will slightly reduce the amount of root RAM used With it unchecked the debug kernel will be compiled without watch expressions sup port and the user will receive an error message if they attempt to add a watch expres sion 228 Dynamic C User s Manual Enable Instruction Level Single Stepping If this is checked when the assembly windo
271. s required by the program Chapter 18 uC OS II 283 If either MAX_TCP_ SOCKET BUFFERS or MAX UDP SOCKET BUFFERS is not defined by the application program prior to the use statements for ucos 1ib and dcrtcp 1ib default values will be assigned If MAX TCP SOCKET BUFFERS is not defined in the application program it will be defined as MAX SOCKETS If however MAX SOCKETS is not defined in the application program MAX TCP SOCKET BUFFERS will be 4 If MAX UDP SOCKET BUFFERS is not defined in the application program it will be defined as 1 if USE_DHCP is defined or 0 otherwise For more information regarding TCP IP please see the Dynamic C TCP IP User s Manual avail able online at zworld com or rabbitsemiconductor com 18 6 Debugging Tips Single stepping may be limited to the currently running task by using F8 Step over If the task is suspended single stepping will also be suspended When the task is put back in a running state single stepping will continue at the statement following the statement that suspended execution of the task Hitting F7 Trace into at a statement that suspends execution of the current task will cause the program to step into the next active task that has debug information It may be useful to put a watch on the global variable OSPrioCur to see which task is currently running For example if the current task is going to call OSSemPend on a semaphore that is not in the signaled state the task
272. s Dynamic C waits for a response from the target on any retry while trying to establish serial communication 300 ms None dccl_ cmp myProgram c sto 400 t NetAddress TcpName TcpPort Description Factory Default GUI Equivalent Example Use TCP with parameters defined in a contiguous colon separated format of NetAddress TcpName TcpPort Include all parameters even if only one is being changed netAddress n n n n tcpName Text name of TCP port tcpPort decimal number of TCP port None Select the Communications tab of Project Options Select the Use TCP IP Connection radio button dccl_ cmp myProgram c t 10 10 6 138 TCPName 4244 Chapter 15 Command Line Interface 257 15 5 Examples The following examples illustrate using multiple command line switches at the same time If the switches on the command line are contradictory such as mr and mf the last switch read left to right will be used 15 5 1 Example 1 In this example all current settings of default dcp are used for the compile dcecl_ cmp samples timerb timerb c 15 5 2 Example 2 In this example all settings of myproject dcp are used except timer_b c is compiled to timer_b bin instead of to the target and warnings or errors are written to myouputs txt dccl_cmp samples timerb timer_b c o myoutputs txt b pf myproject 15 5 3 Example 3 These examples will compile and run myProgram c with the current settings in default dcp but
273. s are special keywords prefixed with the symbol They tell the compiler how to proceed Only one directive per line is allowed but a directive may span more than one line if a backslash is placed at the end of the line s There are some compiler directives used to decide where to place code and data in memory They are called origin directives and include rcodorg rvarorg and xcodorg A detailed description of origin directives may be found in the Rabbit 3000 Designer s Handbook look in the index under origin directives asm Syntax asm options Begins a block of assembly code The available options are const When seperate I amp D space is enabled assembly constants should be placed in their own assembly block or done in C For more information see Section 11 2 2 Defining Con stants e debug Enables debug code during assembly e nodebug Disables debug code during assembly This is the default condition It is still possi ble to single step through assembly code as long as the assembly window is open e xmem Places a block of code into extended memory overriding any previous memory direc tives The block is limited to 4KB If the asm block is unmarked it will be compiled to root class Syntax class options Controls the storage class for local variables The available options are e auto Place local variables on the stack static Place local variables in permanent fixed storage
274. s because before main is called a function called premain is called by the Rabbit kernel BIOS that actually calls main Before premain calls main it calls a function named VdInit that performs the initializa tion services including starting the periodic interrupt If the user were to disable the Virtual Driver by commenting out the call to VaInit in premain then none of the services performed by the periodic interrupt would be available Unless the Virtual Driver is incompatible with some very tight timing requirements of a program and none of the services performed by the Virtual Driver are needed it is recommended that the user not disable it 6 2 Calling GLOBAL_INIT VdInit calls the function chanin GLOBAL INIT which runs all GLOBAL INIT sec tions ina program GLOBAL INIT also initializes all of the CoData structures needed by costatements and cofunctions If VdInit is not called users could still use costatements and cofunctions if the call to VdInit was replaced by a call to GLOBAL INIT but the DelaySec and DelayMs functions often used with costatements and cofunctions in waitfor statements would not work because those functions depend on timer variables which are maintained by the periodic interrupt Chapter 6 The Virtual Driver 67 6 3 Global Timer Variables SEC_TIMER MS_TIMER and TICK TIMER are global variables defined as shared unsigned long These variables should never be change
275. s capacity to use multiple device types simultaneously Since RAM is usually a scarce resource it can be used together with flash memory devices to obtain the best balance of speed performance and capacity 10 1 4 Wear Leveling The current code has a rudimentary form of wear leveling When you write into an existing block it selects a free block with the least number of writes The file system routines copy the old block into the new block adding in the users new data This has the effect of evening the wear if there is a reasonable turnover in the flash files 10 1 5 Low Level Implementation For information on the low level implementation of the flash file system refer to the beginning of the library file FS2 LIB 10 1 6 Multitasking and the File System The file system is not re entrant If using preemptive multitasking ensure that only one thread per forms calls to the file system or implement locking around each call When using uC OS II FS2 must be initialized first that is fs init must be called before OSInit in the application code 110 Dynamic C User s Manual 10 2 Application Requirements Application requirements for using FS2 are covered in this section including e which library to use e which drivers to use e defaults and descriptions for configuration macros e detailed instructions for using the first flash 10 2 1 Library Requirements The file system library must be compiled with the application
276. s multiply assign 181 libraries cai5sSiadeadtotsonacheossbe 3 38 debug n n 196 199 263 OR assign I 1 182 lne Peete cay enta 38 SUID ties eck adduct tes 196 shift left lt lt 2 4 4 181 real time programming 3 DIC VIEWS ieihet stares 193 shift right gt gt 181 writing your OWN ou 39 TUN veeeeesceseescsecsseseenes 196 199 subtract assign 181 Library Help lookup 43 238 modules s cssssesees 39 41 42 XOR assign 5 n 182 linking het os ccs eles chat aie 3 body en ee 39 41 42 associativity a seeeeesssseeeeee 177 list files xtca rane Ratse eae 225 example ooeeceescssseeesssseeesseees 41 DUMALY osssssssssesertrreererrsereen 177 locating errors u 195 196 header 39 40 41 151 bitwise operators long S preanaees 39 40 address amp sree 182 IMO QET opa 21 MOUSE oo eeesecssccseessesssecseeseenes 191 bitwise AND amp 182 keyword w eeeeeeeeees 156 multitasking bitwise exclusive OR lookup function 238 COOPCTALIVE ose 45 183 loops niitit 32 33 preemptive eciwsnemmatesees 61 bitwise inclusive OR I 183 breaking out of 0 eee 33 complement 183 OM A ACATAR 150 POINECTS ossssssessseeeeeeeeeeees 182 306 Dynamic C User s Manual shift left lt lt cecceessseeeen 182 shift right gt gt 0 182 COMM soes eesse ses 189 conditional operators 187 equality operators 184 e
277. s not recommended It is much more efficient to have a few large ones i All other code including ISRs is suspended while writing to flash Chapter 10 The Flash File System 109 10 1 2 Two Flash Boards By default when a board has two flash devices Dynamic C will use only the first flash for code The second flash is available for the file system unless the BIOS macro USE_2NDFLASH_CODE has been uncommented This macro allocates the second flash to hold program code The use of USE _2NDFLASH_ CODE is not compatible with FS2 10 1 3 Using SRAM The flash file system can be used with battery backed SRAM Internally RAM is treated like a flash device except that there is no write cycle limitation and access is much faster The file sys tem will work without the battery backup but would of course lose all data when the power went off Currently the maximum size file system supported in RAM is about 200k This limitation holds true even on boards with a512k RAM chip The limitation involves the placement of BIOS con trol blocks in the upper part of the lower 256k portion of RAM To obtain more RAM memory xalloc may be used If xalloc is called first thing in the program the same memory addresses will always be returned This can be used to store non vola tile data is so desired if the RAM is battery backed however it is not possible to manage this area using the file system Using FS2 increases flexibility with it
278. s that do not apply to embedded systems For example standard C implicitly assumes that an operating system is present and that a program starts with a clean slate whereas embedded systems may have battery backed memory and may retain data through power cycles Z World has extended the C language in a number of areas 2 2 1 Dynamic C Enhancements Many enhancements have been added to Dynamic C Some of these are listed below Function chaining a concept unique to Dynamic C allows special segments of code to be embedded within one or more functions When a named function chain executes all the seg ments belonging to that chain execute Function chains allow software to perform initializa tion data recovery or other kinds of tasks on request Costatements allow concurrent parallel processes to be simulated in a single program Cofunctions allow cooperative processes to be simulated in a single program Slice statements allow preemptive processes in a single program Dynamic C supports embedded assembly code and stand alone assembly code Dynamic C has shared and protected keywords that help protect data shared between different contexts or stored in battery backed memory Dynamic C has a set of features that allow the programmer to make fullest use of extended memory Dynamic C supports the 1 MB address space of the microprocessor The address space is segmented by a memory management unit MMU Normally Dynamic C takes care of m
279. s the bitwise XOR of two integer 8 bit 16 bit or 32 bit values int i OxFFFO int j OxOFFF z i j z gets OxFOOF Bitwise inclusive OR A binary operator this performs the bitwise OR of two integer 8 bit 16 bit or 32 bit values int i OxFFOO int j OxOFFO ze 2 J z gets OxFFFO Bitwise complement This is a unary operator Bits in a char int or Long value are inverted int switches switches OxFFFO j switches j becomes 0x000F 13 4 Relational Operators Less than This binary relational operator yields a Boolean value The result is 1 if the left oper and is less than the right operand and 0 otherwise if i lt j body executesif i lt j OK a lt b true when a lt b Less than or equal This binary relational operator yields a boolean value The result is 1 if the left operand is less than or equal to the right operand and 0 otherwise if i lt j body executesif i lt j OK a lt b true when a lt b Chapter 13 Operators 183 Greater than This binary relational operator yields a Boolean value The result is 1 if the left operand is greater than the right operand and 0 otherwise oe Cs Se 4 body executesif i gt j OK a gt b truewhen a gt b Greater than or equal This binary relational operator yields a Boolean value The result is 1 if the left operand is greater than or equal to the right operand and 0 otherwise LEC
280. s the right to make changes and improvements to its products without providing notice Notice to Users Z WORLD PRODUCTS ARE NOT AUTHORIZED FOR USE AS CRITICAL COMPONENTS IN LIFE SUPPORT DEVICES OR SYS TEMS UNLESS A SPECIFIC WRITTEN AGREEMENT REGARD ING SUCH INTENDED USE IS ENTERED INTO BETWEEN THE CUSTOMER AND Z WORLD PRIOR TO USE Life support devices or systems are devices or systems intended for surgical implantation into the body or to sustain life and whose failure to perform when properly used in accordance with instructions for use provided in the labeling and user s manual can be reasonably expected to result in significant injury No complex software or hardware system is perfect Bugs are always present in a system of any size In order to prevent danger to life or prop erty it is the responsibility of the system designer to incorporate redun dant protective mechanisms appropriate to the risk involved Trademarks Dynamic C isa registered trademark of Z World Inc Windows is a registered trademark of Microsoft Corporation Z World Inc 2900 Spafford Street Davis California 95616 6800 USA Telephone 530 757 3737 Fax 530 757 3792 www zworld com 298 Z WORLD SOFTWARE END USER LICENSE AGREEMENT IMPORTANT READ CAREFULLY BY INSTALLING COPYING OR OTHERWISE USING THE ENCLOSED Z WORLD INC Z WORLD DYNAMIC C SOFTWARE WHICH INCLUDES COMPUTER SOFTWARE SOFTWARE AND MAY INCLUDE ASSOCIATED ME
281. s which are either defined or not defined This difference makes possible statements such as if FLASH COMPILE FAST RAM COMPILE Setting FAST RAM COMPILE limits the flash file system size to the smaller of the following two values 256K less the SystemID User Blocks reserved area the sum of the completely available flash sectors between the application code constants and the SystemID User Blocks reserved area FLASH SIZE _RAM SIZE_ These are used to set the MMU registers and code and data sizes available to the compiler The values of the macros are the number of 4K blocks of memory available __LINE __ The compiler substitutes this macro with the current source code line number as a decimal constant NO BIOS Boolean value Tells the compiler whether or not to include the BIOS when compiling to a bin file This is an advanced compiler option accessible by clicking the Advanced button on the Compiler tab in Project Options _TARGETLESS COMPILE Boolean value It defaults to 0 Set it by selecting Compile defined target configuration to bin file under Default Compile Mode in the Compiler tab of Project Options __TIME _ The compiler substitutes this macro with the time that the file BIOS or c was compiled The character string literal is of the form hh mm ss 286 Dynamic C User s Manual A 2 Global Variables These variables may be read by any Dynamic
282. sed by You or contained in any purchase order are hereby rejected and shall be of no force and effect unless expressly agreed to in writing by Z WORLD No amendment to or modification of this License will be binding unless in writing and signed by a duly authorized representative of Z WORLD Copyright 2000 Z World Inc All rights reserved 302 Dynamic C User s Manual Index Symbols argument passing 31 128 129 hard isnensin npes gan 200 134 135 interrupt status 199 200 and 4 Operators 4 19 modifying value 00 31 SULT SAAE EE 199 HAST woseeeeseseeeesseeees 121 168 264 arrange icons sscecssssseeeeeseees 234 debug se eeeeesseees 157 169 264 arrays sssr 27 28 31 ee E yy C language 3 4 15 22 25 31 Gl Oa ae acl al ie wee iot io Medani endasm u s 121 125 169 asm ny T A eas 145 ae Dra e 3 Hendin iien ene 171 assembl 3 121 142 199 Pane see TESST ila are aerate WO O eenen e E a e e fatal Vee een Eanes 169 SPS ied Se CASEI WANG ONS Canoes 234 embedding C statements ee Gane irn i 35 146 150 funcchain sseseeeesssseees 36 170 stand alone sssssseseeseeeeeeee 127 aAa ETA A 171 OAE aaaea AGS window nosene 131 234 235 Adee aaia 171 chatablers assignment operators 181 E N WR ea ee ia AUER YS Sepia neers be include ie 197 108 145 263 embedded quotes 23 absence Of oe eee 38 ae of variables 128 nonpriniing VAIRE aeres 23 interleave oo
283. sence of the letter E or F indicates that a number is real has a floating point representation Integers have several forms of representation The normal decimal form is the most common 10 327 1000 0 An integer is long 32 bit if its magnitude exceeds the 16 bit range 32768 to 32767 or if it has the letter L appended OL 32L 45000 32767L An integer is unsigned if it has the letter U appended It is Long if it also has L appended or if its magnitude exceeds the 16 bit range OU 4294967294U 32767U 1700UL An integer is hexadecimal if preceded by 0x Ox7E OxE000 OxXFFFFFFFA It may contain digits and the letters a f or A F An integer is octal if begins with zero and contains only the digits 0 7 0177 020000 000000630 A real number can be expressed in a variety of ways 4 5 means 4 5 4f means 4 0 0 3125 means 0 3125 456e 31 means 456 x 1072 0 3141592e1 means 3 141592 Chapter 4 Language 21 4 7 Strings and Character Data A string is a group of characters enclosed in double quotes Press any key when ready Strings in C have a terminating null byte appended by the compiler Although C does not have a string data type it does have character arrays that serve the purpose C does not have string opera tors such as concatenate but library functions strcat and strncat are available Strings are multibyte objects and as such they are always referenced by their starting address and usually by a char v
284. skQuery OS PRIO SELF amp data while 1 Rand is not reentrant so access must be controlled via a semaphore OSSemPend RandomSem 0 amp err RNum int rand 100 OSSemPost RandomSem printf Task 02d s random d n data OSTCBPrio RNum Wait 3 seconds in order to view output from each task OSTimeDlySec 3 18 5 Compatibility with TCP IP The TCP IP stack is reentrant and may be used with the uC OS real time kernel The line use ucos2 lib must appear before the line use dertcp lib A call to OSInit must be made before calling sock _init 18 5 1 Socket Locks Each socket used in a uC OS II application program has an associated socket lock Each socket lock uses one semaphore of type OS_ EVENT Therefore the macro MAX_OS_ EVENTS must take into account each of the socket locks plus any events that the application program may be using semaphores queues mailboxes event flags or mutexes Determining OS MAX EVENTS may get a little tricky but it isn t too bad if you know what your program is doing Since MAX_SOCKET LOCKS is defined as define MAX SOCKET LOCKS MAX TCP SOCKET BUFFERS MAX UDP SOCKET BUFFERS OS MAX EVENTS may be defined as define OS MAX EVENTS MAX TCP SOCKET BUFFERS MAX UDP SOCKET BUFFERS 2 z The constant 2 is included for the two global locks used by TCP IP and z is the number of OS EVENTS semaphores queues mailboxes event flags or mutexe
285. stream based communi cation handlers using the slave port protocol 7 1 Slave Port Driver Protocol Given the variety of embedded system implementations the protocol for the slave port driver was designed to make the software for the master controller as simple as possible Each interaction between the master and the slave is initiated by the master The master has complete control over when data transfers occur and can expect single immediate responses from the slave 7 1 1 Overview 1 Master writes to the command register after setting the address register and optionally the data register These registers are internal to the slave 2 Slave reads the registers that were written by the master 3 Slave writes to command response register after optionally setting the data register This also causes the SLAVEATTN line on the Rabbit slave to be pulled low 4 Master reads response and data registers 5 Master writes to the slave port status register to clear interrupt line from the slave 7 1 2 Registers on the Slave From the point of view of the master the slave is an I O device with four register addresses Table 7 1 The slave registers that are accessible by the master Address of Register intepnal Register From g Address of g Register Use Name Master s Register 5 Perspective SPDOR 0x20 0 Command and response register SPD1R 0x21 1 Address register SPD2R 0x22 2 Optional data register SPSR 0x23 3 Slave
286. t RFU GUI Equivalent Example Causes the RFU version number and additional status information to be dis played Only error messages are displayed Status information is displayed by default and there is no option to turn it off c1RFU myProgram bin v cl ColdLoaderPathName Description Default RFU GUI Equivalent Example Select a new initial loader bios coldload bin From the Setup Boot Strap Loaders dialog box type in a pathname or click on the ellipses radio button to browse for a file c1RFU myProgram bin cl myInitialLoader c pb PilotBiosPathName Description Default RFU GUI Equivalent Example Description RFU GUI Equivalent Example Select a new secondary loader bios pilot bin From the Setup Boot Strap Loaders dialog box type in a pathname or click on the ellipses radio button to browse for a file c1RFU myProgram bin pb mySecondaryLoader c Run Ethernet discovery Don t load the bin file This option is for infor mation gathering and must appear by itself with no other options and no binary image file name From the Setup Communications dialog box click on the Use TCP IP Connection radio button then on the Discover button c1RFU d Dynamic C User s Manual 295 296 Dynamic C User s Manual Dynamic C User s Manual Part Number 019 0125 B e Printed in U S A 2004 Z World Inc All rights reserved Z World reserve
287. t selected in the active edit window the search scope will default to that bit of selected text only Overwrite blocks Check this option to enable overwriting a selected block of text by pressing a key on the keyboard The block of text may be overwritten with any character including whitespaces or by pressing delete or backspace Double click line Check this option to allow an entire line to be selected when you double click at any position in the line When this option is unchecked double clicking will select the closest word to the left of the cursor Find text at cursor When either the Search or Replace dialogs are opened if this option is checked the word at the cursor location in the active editor window will be placed into the Text to Find edit box If this option is unchecked the edit box will contain the last search string Select found text The color of found text can be set in Options Environment Options on the Syntax Colors page Select Search Match from the Element list box then set the foreground and background colors If this box is unchecked the Search Match color scheme will be used when a match is found but the text will not be selected for copy or delete operations If this option is checked the matched text will automatically be selected so that it may be copied or deleted Use syntax highlight Check this option to enable the Display and Syntax Color choices to be active Block overwrite cursor
288. t can be useful diagnosing problems in deployed Rabbit targets To support error logging the target must have battery backed RAM 8 3 1 Error Log Buffer A circular buffer in extended RAM will be filled with the following information for each run time error that occurs e The value of SEC_TIMER at the time of the error This variable contains the number of seconds since 00 00 00 on January 1st 1980 if the real time clock has been set correctly This variable is updated by the periodic timer which is enabled by default Z World sets the real time clock in the factory When the BIOS starts on boards with batteries it initializes SEC_TIMER to the value in the real time clock e The address where the exception was called from This can be traced to a particular func tion using the MAP file generated when a Dynamic C program is compiled e The exception type Please see Table 8 2 on page 102 for a list of exception types e The value of all registers This includes alternate registers SP and XPC This is a global option that is enabled by default e An 8 byte message This is a global option that is disabled by default The default error handler does nothing with this e A user definable length of stack dump This is a global option that is enabled by default e Aone byte checksum of the entry 8 3 1 1 Error Log Buffer Size The size of the error log buffer is determined by the number of entries the size of an entry and the header
289. t vector is used multiple times for the same interrupt vector the last one encountered by the compiler will override all previous ones interrupt vector is syntactic sugar for using the origin directives and assembly code For example the line interrupt vector timerb intvec timerb isr is equivalent to rcodorg timerb intvec apply asm jp timerb isr endasm rcodorg rootcode resume 140 Dynamic C User s Manual The following table lists the defined interrupt vector names that may be used with interrupt _vector along with their ISRs Table 11 5 Interrupt Vector and ISR Names Interrupt Vector Name ISR Name Default Condition periodic _intvec periodic_isr Fast and nonmodifiable rst10_intvec User defined name User defined rst18_ intvec rst20_ intvec rst28 intvec These interrupt vectors and their ISRs should never be altered by the user because they are reserved for the debug kernel rst38 intvec User defined name User defined slave_intvec slave isr Fast and nonmodifiable timera_intvec User defined name User defined timerb intvec User defined name User defined inputcap intvec User defined name quad_intvec qd_isr ext0O_ intvec User defined name extl_intvec User defined name DevMateSerialISR_ Fast and nonmodifiable sera_intvec 7 spa_isr User defined serb_intvec s
290. tailed description of these functions please refer to the Dynamic C s TCP IP User s Man ual or use lt Ct r1 H gt in Dynamic C to use the Library Lookup feature Table 10 2 Flash File System Auxiliary Functions Command Description sspec addfsfile Associate a name with the flash file system file number The return value is an index into an array of structures associated with the named files sspec readfile Read a file represented by the return value of sspec_addfsfile into a buffer sspec_ getlength Get the length number of bytes of the file sspec_getfileloc Get the file system file number 1 255 Cast return value to FILENUMBER sspec findname Find the index into the array of structures associated with named files of the file that has the specified name sspec_getfiletype Get file type For flash file system files this value will be SSPEC_FSFILE sspec findnextfile Find the next named file in the flash file system at or following the specified index and return the index of the file sspec_remove Remove the file name association sspec_ save Saves to the flash file system the array of structures that reference the named files in the flash file system sspec_ restore Restores the array of structures that reference the named files in the flash file system 118 Dynamic C User s Manual 10 6 Skeleton Program Using FS2 The followin
291. tatement you supply a context buffer as the first argument When you define an unnamed slice statement this structure is allocated by the compiler statement yield abort waitfor expression The body of a slice statement may contain e Regular C statements e yield statements to make an unconditional exit e abort statements to make an execution jump to the very end of the statement e waitfor statements to suspend progress of the slice statement pending some condition indicated by the expression 5 9 2 Usage The slice statement can run both cooperatively and preemptively all in the same framework A slice statement like costatements and cofunctions can suspend its execution with an abort yield or waitfor It can also suspend execution with an implicit yield determined by the time slice parameter that was passed to it A routine called from the periodic interrupt forms the basis for scheduling slice statements It counts down the ticks and changes the slice statement s context 5 9 3 Restrictions Since a slice statement has its own stack local auto variables and parameters cannot be accessed while in the context of a slice statement Any functions called from the slice statement function normally Only one slice statement can be active at any time which eliminates the possibility of nesting slice statements or using a slice statement inside a function that is either directly or indi rectly called from a slice statement
292. tch statement switch expression case consti break case const2 break case const3 break default The switch statement may contain any number of cases The constants of the case statements are compared with expression If there is a match the statements for that case execute The default case if it is present executes if none of the constants of the case statements match expression If the statements for a case do not include a break return continue or some means of exiting the switch statement the cases following the selected case will also execute regardless of whether their constants match the switch expression typedef This keyword provides a way to create new names for existing data types typedef struct int x int y xyz defines a struct type xyz thing and a thing of type xyz typedef uint node meaningful type name node master slavel slave2 162 Dynamic C User s Manual union Identifies a variable that can contain objects of different types and sizes at different times Items in a union have the same address The size of a union is that of its largest member union int x float y abc overlays a float and an int unsigned Declares a variable or array to be unsigned If nothing else is specified in a declaration unsigned means 16 bit unsigned integer unsigned i j k 16 bit unsigned unsigned int x 16 bit unsigned unsigned long w 32 b
293. te fields Compiler Tab Click on the Compiler tab to display the following dialog Project Options x Communications Uompier Debugger Defines Targetless IV Array Indices IV Pointers M Run Time Checking Optimize For C Size f Speed M Type Checking IV Prototype MV Demotion IV Pointer BIOS Memory Setting Code and BIOS in Flash Code and BIOS in RAM C Code and BIOS in Flash Run in RAM M Warning Reports All Serious Only C None Max Shown Errors 10 Wamings 10 gt M List Files I Generate assembly list file for each compile M Separate Instruction amp Data Space Enable separate instruction and data spaces Default Compile Mode Compile to attached target Compile defined target configuration to bin file C Compile to bin file using attached target m In line 1 0 Inline builtin 1 0 functions Advanced oma e Chapter 14 Graphical User Interface 223 Run Time Checking These options if checked can allow a fatal error at run time They also increase the amount of code and cause slower execution but they can be valuable debugging tools e Array Indices Check array bounds This feature adds code for every array ref erence Pointers Check for invalid pointer assignments A pointer assignment is invalid if the code attempts to write to a location marked as not writable Loca t
294. tective of Z Worlds intellectual property rights than the terms and conditions of this License iv use and distribute with Qualified Applications and Qualified Systems the program files distributed with Dynamic C named RFU EXE PILOT BIN and COLDLOAD BIN in their unaltered forms 3 Restrictions Except as otherwise stated You may not nor permit anyone else to decompile reverse engineer disassemble or otherwise attempt to reconstruct or discover the source code of the Software alter merge modify translate adapt in any way prepare any derivative work based upon the Software rent lease network loan distribute or otherwise transfer the Software or any copy thereof You shall not make copies of the copyrighted Software and or documenta tion without the prior written permission of Z WORLD provided that You may make one 1 hard copy of such documentation for each User and a reasonable number of back up copies for Your own archival purposes You may not use copies of the Software as part of a benchmark or comparison test against other similar products in order to produce results strictly for purposes of comparison The Software contains copyrighted material trade secrets and other proprietary material of Z WORLD and or its licensors and You must reproduce on each copy of the Soft ware all copyright notices and any other proprietary legends that appear on or in the original copy of the Software Except for the limited license granted above
295. ter 4 Language 23 4 9 Declarations A variable must be declared before it can be used That means the variable must have a name and a type and perhaps its storage class could be specified If an array is declared its size must be given Root data arrays are limited to a total of 32 767 elements static int thing array 12 static integer variable amp static integer array auto float matrix 3 3 auto float array with 2 dimensions char message Press any key initialized pointer to char array If an aggregate type struct or union is being declared its internal structure has to be described as shown below elspa bres 1 description of structure char flags ocrvet at a nested structure here WME Sip Int y t loe cursor int a a CUSO LOG use of structure element here 4 10 Functions The basic unit of a C application program is a function Most functions accept parameters a k a arguments and return results but there are exceptions All C functions have a return type that specifies what kind of result if any it returns A function with a void return type returns no result If a function is declared without specifying a return type the compiler assumes that it is to return an int integer value A function may call another function including itself a recursive call The main function is called automatically after the program compiles or when the controller powers up The beginning of
296. terface of Dynamic C and some of the powerful options available for embedded systems programming The following several paragraphs are a summary of what we ve discussed Development Functions When you load a program it appears in an editor window You compile by clicking Compile on the task bar or from the Compile menu The program is compiled into machine language and down loaded to the target over the serial port The execution proceeds to the first statement of main where it pauses waiting to run Press lt F9 gt or select Run on the Run menu If want to compile and run the program with one keystroke use lt F9 gt the run command if the program is not already compiled the run command compiles it Single Stepping This is done with the F8 key The F7 key can also be used for single stepping If the F7 key is used then descent into subroutines will take place With lt F8 gt the subroutine is executed at full speed when the statement that calls it is stepped over 12 Dynamic C User s Manual Setting Breakpoints The F2 key is used to toggle a breakpoint at the cursor position if the program has already been compiled You can set a breakpoint if the program is paused at a breakpoint You can also set a breakpoint in a program that is running at full speed This will cause the program to break if the execution thread hits your breakpoint Watch Expressions A watch expression is a C expression that is evaluated on command in t
297. the Options menu Options Environment Options Dynamic C comes with a built in full featured text editor It may be customized to suit your style using the Environ ment Options dialog box The dialog box has tabs for vari ous aspects of the editor Editor Tab Click on the Editor tab to display the following dialog Installation defaults are shown Environment Options SHOVE nunge Gtr QUIET lt U lt U U Uni U lt u U U lt lt E lt lt lt lt Ei define N 1000 const float SORT PI 1 77245385 the square root const char label The square root of pi is int i for i 0 i lt N i printf ss f n label SQRT_PI E 204 Dynamic C User s Manual The Editor options are detailed here All actions taken are immediately reflected in the text area at the bottom of the dialog and in any open editor windows Auto indent mode Checking this causes a new line to match the indentation of the previous line Use previous indention Uses the same characters for indentation that were used for the last indentation If the last indentations was 2 tabs and 4 spaces the next indentation will use the same com bination of whitespace characters Cursor through tabs With this option checked the right and left arrow keys will move the cursor through the logical spaces of a tab character If this is unchecked the cursor will move the entire length of the tab character Backspace unindents Check this to
298. the keymapping with this pulldown menu Chapter 14 Graphical User Interface 207 Gutter amp Margin Tab Click on the Gutter amp Margin tab to display the following dialog Environment Options x Editor Display Syntax Colors Code Templates Debug Windows Print Alerts Editor gutter Editor margin Jv Visible wian f2 2 A e visible widhi fi 3 BtnF T Brace 7 a Color E crate gt i Line Numbers Colors tyle 7 Foreground Black l Sy x Background CoO White 7 Position jeo define N 1000 const float SORT PI 1 77245365 the square root const char label The square root of pi is maini int i for i 0 i lt N i printf s f n label SORT PI Cancel Help Editor gutter Check the Visible box to create a gutter in the far left side of the text window Use the Width scroll bar to set the width of the gutter in pixels The button to the right updates the width parameter Changing the width and clicking on OK at the bottom of the dia log does not update the gutter width you must click on the button Use the Color pull down menu to set the color The button to the right brings up more color choices Editor margin Check the Visible box to create a right hand margin in the text window Use the Width scroll bar and the Color pulldown menu to set the like named attributes of the margin line The Style p
299. the main function is the entry point to the entire program 24 Dynamic C User s Manual 4 11 Prototypes A function may be declared with a prototype This is so that e Functions that have not been compiled may be called e Recursive functions may be written e The compiler may perform type checking on the parameters to make sure that calls to the function receive arguments of the expected type A function prototype describes how to call the function and is nearly identical to the function s ini tial code This is a function prototype long ticle coume claw Cloe iel a This is the function s definition Long vetck count char joloGckuids i It is not necessary to provide parameter names in a prototype but the parameter type is required and all parameters must be included If the function accepts a variable number of arguments as printf does use an ellipsis This prototype is as good as the one above ging icicle Coviaie Claw 5 This is a prototype that uses ellipsis ligt startup GclewaleS iwc F 4 12 Type Definitions Both types and variables may be defined One virtue of high level languages such as C and Pascal is that abstract data types can be defined Once defined the data types can be used as easily as simple data types like int char and float Consider this example typedef int MILES abasic type named MILES typedef struct astructure type float
300. the slave PARAMETERS io bank The IO bank and chip select pin number for the slave device This is a number from 0 to 7 inclusive RETURN VALUE 1 Success LIBRARY MASTER SERIAL LIB MSopen int MSopen char address unsigned long baud DESCRIPTION Opens a serial port on the slave given that there is a serial handler at the specified ad dress on the slave PARAMETERS address Slave channel address of serial handler baud Baud rate for the serial port on the slave RETURN VALUE 1 Baud rate used matches the argument 0 Different baud rate is being used 1 Slave port comm error occurred LIBRARY MASTER SERIAL LIB Chapter 7 The Slave Port Driver 85 MSputc int MSputc char address char ch DESCRIPTION Transmits a single character through the serial port PARAMETERS address Slave channel address of serial handler ch Character to send RETURN VALUE 1 Character sent 0 Transmit buffer is full or locked LIBRARY MASTER SERIAL LIB MSrdFree int MSrdFree char address DESCRIPTION Gets the number of bytes available in the specified serial port read buffer on the slave PARAMETERS address Slave channel address of serial handler RETURN VALUE Number of bytes free Success 1 Failure LIBRARY MASTER_SERIAL LIB 86 Dynamic C User s Manual MSsendCommand int MSsendCommand char address char command char data char data returned unsigned long timeout DESCRIPTION
301. the switch expression the sequence of statements identified by the consty Chapter 4 Language 35 expression is executed If there is no match the sequence of statements identified by the default label is executed The default part is optional Unless the break keyword is included at the end of the case s statements the program will fall through and execute the state ments for any number of other cases The break keyword causes the program to exit the switch case statement The colons after case and default are required 4 19 Function Chaining Function chaining allows special segments of code to be distributed in one or more functions When a named function chain executes all the segments belonging to that chain execute Function chains allow the software to perform initialization data recovery and other kinds of tasks on request There are two directives makechain and funcchain and one keyword seg chain that create and control function chains makechain chain name Creates a function chain When a program executes the named function chain all of the func tions or chain segments belonging to that chain execute No particular order of execution can be guaranteed funcchain chain name name Adds a function or another function chain to a function chain segchain chain name statements Defines a program segment enclosed in curly braces and attaches it to the named function chain Function chain s
302. tion chain Any number of GLOBAL INIT sections may be used in your code The order in which they are called is indeterminate since it depends on the order in which they were compiled The GLOBAL INIT function chain is always called when your program starts up so there is nothing special to do to invoke it In addition it may be called explicitly at any time in an applica tion program with the statement _GLOBAL_INIT Make this call this with caution All costatements and cofunctions will be initialized See Calling _GLOBAL_INIT on page 67 for more information Chapter 4 Language 37 4 21 Libraries Dynamic C includes many libraries files of useful functions in source code form They are located in the LIB subdirectory where Dynamic C was installed The default library file extension is LIB Dynamic C uses functions and data from library files and compiles them with an applica tion program that is then downloaded to a controller or saved to a bin file An application program the default file extension is c consists of a source code file that con tains a main function called main and usually other user defined functions Any additional source files are considered to be libraries though they may have a c extension and are treated as such The minimum application program is one source file containing only main Libraries both user defined and Z World defined are linked with the application t
303. to control a servo loop may run continuously to regulate the temperature in an oven If there are a a number of tasks that need to run continuously then they can be called using a single wait fordone statement as shown below costate waitfordone Task1 Task2 Task3 Task4 to come here is an error Each task will receive some execution time and assuming none of the tasks is completed they will continue to be called If one of the cofunctions should abort then the wait fordone state ment will abort and corrective action can be taken 5 7 Timing Considerations In most instances costatements and cofunctions are grouped as periodically executed tasks They can be part of a real time task which executes every n milliseconds as shown below using costate ments enter every n milliseconds costate costate costate costate Figure 5 2 Costatement as Part of Real Time Task If all goes well the first costatement will be executed at the periodic rate The second costatement will however be delayed by the first costatement The third will be delayed by the second and so on The frequency of the routine and the time it takes to execute comprise the granularity of the routine If the routine executes every 25 milliseconds and the entire group of costatements executes in 5 to 10 milliseconds then the granularity is 30 to 35 milliseconds Therefore the delay between the occurrence of a waitfor event
304. to execute before uC OS II has been fully initialized and started multi tasking a check should be made 5 to insure that uC OS II is in a known state especially if the TA ISR signals a task to the ready state 6 After the TA ISR has done its necessary work which may include making a higher priority task than is currently run ning ready to run OSIntExit must be called 7 This wC OS II function determines the high est priority task ready to run sets it as the currently running task and sets the global flag bios_swpend if a context switch needs to take place Interrupts are disabled since a context switch is treated as a critical section 8 If the TA ISR decrements the nesting counter and the count does not go to zero then the nesting level is saved inbios intnesting 9 the regis ters used by the TA ISR are restored interrupts are re enabled if not already done in 4 and the TA ISR returns 12 However if decrementing the nesting counter in 9 causes the counter to become zero then bios swpend must be checked to see if a context switch needs to occur 10 If a context switch is not pending then the nesting level is set 9 and the TA ISR exits 12 Ifa context switch is pending then the remaining context of the previous task is saved and a long call which insures that the xpc is saved and restored properly is made to bios _intexit 11 bios _intexit is responsible for switching to the stack of the task that is now ready to run a
305. to variables 0 0 0 145 breakpoints ee 199 lt CTRL X gt calls 24 128 129 133 134 keyword for ISR 155 cutting text oe 194 calls from assembly 135 latenGy ist ictal basa tai 136 lt CTRL Y gt chains oo eeceeeseeeeeeee 36 159 VECLOTS cccseeeseeeeeeeeee 137 156 Reset target 0 cee 198 create Chains cceeee 172 TSR siciecnc entices 136 266 lt CTRL Z gt entry and exit wo 263 IX index register 55 132 133 SLOP enaiis 199 execution time 0 263 157 163 lt F10 gt headers css csccssssce scescsvesdiee ee 43 Assembly window 234 help anc ssiihistais Bees 43 K lt F2 gt indirect CALL sorire 30 Ls eee eee 39 Toggle Breakpoint 199 Wibraries siisii 3 keystrokes lt F3 gt prototypes 25 26 39 lt ALT Backspace gt Find Next sssini 195 returns soos 133 134 135 undoing changes 194 lt F5 gt l saving registers e 142 lt ALT C gt Compile ee 197 stack SPACE ooeserseerreeeeecrooee 263 select Compile menu 197 lt F7 gt l transferring control 32 lt ALT F gt Trace into oo eee 199 unbalanced stack 142 lect Tilem eni 192 lt F8 gt function lookup lt CTRL H gt 238 lt ALT F10 gt Step OVEL wee eee 199 G Disassemble at Address 202 gt lt ALT F2 gt RUM OTSTE TT 199 Global Initialization 37 Toggle Hard Breakpoint keywords 133 143 157 159 global variables 28 2
306. tory file and or a different BIOS file Choosing File Project Save will save the state of the environment to the active project file including the state of the recently used filelist and any files open in edit windows This selection is greyed out if the active project is factory dcp This option is of limited use since any project changes will be updated immediately to the file and the state of the recently used filelist and open edit windows will be updated when the project is closed for any reason Choosing File Project Save as will bring up a dialog box to select a project file name The file will be created or if it exists it will be overwritten with the current environment settings This environment will also be saved to the active project file before it is closed and its copy the newly created or overwritten project file will become active Choosing File Project Close first saves the environment to the active project file unless the active project is factory dcp and then loads the Dynamic C default project default dcp as the active project As with Open the BIOS will automatically be recompiled prior to the compilation of a source file within the new environment The new environment may have a differ ent library directory file and or a different BIOS file 260 Dynamic C User s Manual 16 4 Command Line Usage When using the command line compiler dccl_cmp exe a project file is always read The
307. trant Library Non reentrant Functions MATH LIB randg randb rand RS232 LIB All RTCLOCK LIB write_rtc tm_wr STDIO LIB kbhit getchar gets getswf selectkey STRING LIB atof atoi strtok Beaty clockDoublerOn clockDoublerOff useMainOsc useClockDivider use32kHzOsc VDRIVER LIB VdGetFreeWd VdReleaseWd XMEM LIB WriteFlash JRIO LIB digOut digOn digOff jrioInit anaIn anaOut cof_anaIn JR485 LI1IB All 1 reentrant but sets the global xtoxErr flag The serial port functions RS232 LIB functions should be used in a restricted manner with uC OS II Two tasks can use the same port as long as both are not reading or both are not writing i e one task can read from serial port X and another task can write to serial port X at the same time without conflict Chapter 18 uC OS II 277 18 4 How to Get a uC OS II Application Running uC OS II is a highly configureable real time operating system It can be customized using as many or as few of the operating system s features as needed This section outlines e The configuration constants used in wC OS II e How to override the default configuration supplied in UCOS2 LIB e The necessary steps to get an application running It is assumed that the reader has a familiarity with uwC OS II or has a uC OS II reference MicroC OS II The Real Time Kernel by Jean J Labrosse is highly recommended 18 4 1 Default C
308. tring s will expand first to unsigned int z simple expansion MM A A B M M does not expand recursively primer Vlei Ust Uggi uyat Serine z value string fmt gt s then to unsigned int zZ A AB from A A B primer Varri Tst Maan Mal semeicladime 5 string something then to unsigned int zZ BASERNE A B print string s n something concatenation and finally to unsigned int zZ G AB B gt C prunci string s n something 20 Dynamic C User s Manual 4 5 1 Restrictions The number of arguments in a macro call must match the number of parameters in the macro defi nition An empty parameter list is allowed but the macro call must have an empty argument list Macros are restricted to 32 parameters and 126 nested calls A macro or parameter name must conform to the same requirements as any other C name The C language does not perform macro replacement inside string literals character constants comments or within a define directive A macro definition remains in effect unless removed by an undef directive If an attempt is made to redefine a macro without using undef a warning will appear and the original defini tion will remain in effect 4 6 Numbers Numbers are constant values and are formed from digits possibly a decimal point and possibly the letters U L X or A F or their lower case equivalents A decimal point or the pre
309. uage code C and assembly language may be mixed together Debugging under Dynamic C includes the ability to use print f commands watch expressions breakpoints and other advanced debugging features Watch expressions can be used to compute C expressions involving the target s program variables or functions Watch expressions can be evalu ated while stopped at a breakpoint or while the target is running its program Dynamic C provides extensions to the C language such as shared and protected variables cos tatements and cofunctions that support real world embedded system development Dynamic C supports cooperative and preemptive multi tasking Dynamic C comes with many function libraries all in source code These libraries support real time programming machine level I O and provide standard string and math functions 2 1 1 Speed Dynamic C compiles directly to memory Functions and libraries are compiled and linked and downloaded on the fly On a fast PC Dynamic C might load 30 000 bytes of code in 5 seconds at a baud rate of 115 200 bps Chapter 2 Introduction to Dynamic C 3 2 2 Dynamic C Enhancements and Differences Dynamic C differs from a traditional C programming system running on a PC or under UNIX The reason To be better help customers write the most reliable embedded control software possible It is not possible to use standard C in an embedded environment without making adaptations Stan dard C makes many assumption
310. ulldown menu displays the line choices available a solid line and var ious dashed lines The Position scroll box is used to place the margin at the desire location in the text window 208 Dynamic C User s Manual Line Number Colors If line numbers are set to visible and are not placed on the gutter the Foreground color will set the color of the line numbers and the Background color will set the color on which the line numbers appear Display Tab Click on the Display tab to display the following dialog Environment Options CWn S E Window e Spaces define N 1000 const float SORT PI 1 77245365 the square root const char label The square root of pi is r int i for i 0 i lt N i printf ts f n label SQRT_PI Editor Font This area of the dialog box is for choosing the font style and size Check Use mono font for fixed spacing with each character note that this option limits the available font styles Special Symbols Check Use to view end of line end of file space and or tab symbols in the editor win dow Chapter 14 Graphical User Interface 209 Background Colors This area of the dialog box is for choosing background colors for editor windows and the main Dynamic C workspace The editor window can have a different background color in edit mode than it does in run mode Each pulldown menu has an icon to the right that brings up additional color choices Synta
311. ult RST 28 instructions are included GUI Equivalent This is an advanced setting viewable by clicking on the Advanced radio button at the bottom of the Project Options Compiler dialog box Uncheck Include RST 28 instructions ri Description Enable runtime checking of array indices Factory Default Runtime checking of array indices is performed GUI Equivalent Check Array Indices in the Project Options Compiler dialog box ri Description Disable runtime checking of array indices Factory Default Runtime checking of array indices is performed GUI Equivalent Uncheck Array Indices in the Project Options Compiler dialog box rp Description Enable runtime checking of pointers Factory Default Runtime checking of pointers is performed GUI Equivalent Check Pointers in the Project Options Compiler dialog box 246 Dynamic C User s Manual rp Description Factory Default GUI Equivalent fW Description Factory Default GUI Equivalent f W Description Factory Default GUI Equivalent sp Description Factory Default GUI Equivalent SZ Description Factory Default GUI Equivalent td Description Factory Default GUI Equivalent Disable runtime checking of pointers Runtime checking of pointers is performed Uncheck Pointers in the Project Options Compiler dialog box Restrict watch expressions may save root code space Allow any expressio
312. ultiplied by 300 Set baud factor byte 2 MSB The actual baud rate is the baud factor 5 ay multiplied by 300 6 Set port configuration bits 7 Open port 8 Close port Get errors Slave responds with 1 if the port is open and can return an error 9 bitfield The error bits are the same as for the function serAgetErrors and are put in the data return register by the slave Returns count of free bytes in the serial port write buffer The two 10 11 commands return the LSB and the MSB of the count respectively The LSB 10 should be read first to latch the count Returns count of free bytes in the serial port read buffer The two 12 13 commands return the LSB and the MSB of the count respectively The LSB 12 should be read first to latch the count Returns count of bytes currently in the serial port write buffer The two 14 15 commands return the LSB and the MSB of the count respectively The LSB 14 should be read first to latch the count Returns count of bytes currently in the serial port write buffer The two 16 17 commands return the LSB and the MSB of the count respectively The LSB 16 should be read first to latch the count Chapter 7 The Slave Port Driver 7 3 2 2 Slave Side of Protocol To set up the serial port handler to connect serial port A to channel 5 do the following SPsetHandler 5 SPserAhandler NULL 7 3 2 3 Master Side of Protocol The following functions a
313. umber of 1K stacks number of 2K stacks number of 4K stacks FPRRNN OSTaskCreate task1 NULL 256 0 OSTaskCreate task2 NULL 512 1 OSTaskCreate task3 NULL 1024 2 OSTaskCreate task4 NULL 2048 3 OSTaskCreate task5 NULL 4096 4 Note that STACK _CNT_ 256 is set to 2 instead of 1 uC OS II always creates an idle task which runs when no other tasks are in the ready state Note also that there are two 512 byte stacks instead of one This is because the program is given a 512 byte stack If the application utilizes the uC OS II statistics task then the number of 512 byte stacks would have to be set to 3 Statistic task creation can be enabled and disabled via the macro OS TASK STAT EN which is located in ucos2 1ib If only 6 stacks were declared one of the calls to OSTaskCreate would fail 1 270 Dynamic C User s Manual If an application uses OSTaskCreateExt which enables stack checking and allows an exten sion of the Task Control Block fewer parameters are needed in the Rabbit version of uC OS IL Using the macros in the example above the tasks would be created as follows OSTaskCreateExt task1 NULL 0 0 256 NULL OS TASK OPT STK CHK OS TASK OPT STK CLR OSTaskCreateExt task2 NULL 1 1 512 NULL OS TASK OPT STK CHK OS TASK OPT STK CLR OSTaskCreateExt task3 NULL 2 2 1024 NULL OS TASK OPT STK CHK OS TASK OPT STK CLR OSTaskCreateExt task4 NULL 3 3 2048 NULL OS TASK OPT STK CHK
314. unction return was not a struct obtain the returned value from HL or BCDE Chapter 11 Using Assembly Language 135 11 7 Interrupt Routines in Assembly Interrupt Service Routines ISRs may be written in Dynamic C declared with the keyword interrupt But since an assembly routine may be more efficient than the equivalent C func tion assembly is more suitable for an ISR Even if the execution time of an ISR is not critical the latency of one ISR may affect the latency of other ISRs Either stand alone assembly code or embedded assembly code may be used for ISRs The benefit of embedding assembly code in a C language ISR is that there is no need to worry about saving and restoring registers or reenabling interrupts The drawback is that the C interrupt function does save all registers which takes some amount of time A stand alone assembly routine needs to save and restore only the registers it uses 11 7 1 Steps Followed by an ISR The CPU loads the Interrupt Priority register IP with the priority of the interrupt before the ISR is called This effectively turns off interrupts that are of the same or lower priority Generally the ISR performs the following actions 1 Save all registers that will be used i e push them on the stack Interrupt routines written in C save all registers automatically Stand alone assembly routines must push the registers explic itly 2 Determine the cause of the interrupt Some devices map multiple
315. unction take an offset into the block as a parameter The highest offset available to the user in the User block will be SysIDBlock userBlockSize 1 if there are no calibration constants or DAC_CALIB ADDR 1 if there are See the Rabbit 3000 Designer s Handbook or the Rabbit 2000 Designer s Handbook for more details about the User block 17 2 2 Flash File System For a complete discussion of the file system please see The Flash File System on page 109 17 2 3 WriteFlash2 See the Dynamic C Function Reference Manual for a complete description NOTE There is aWriteFlash function available for writing to the first flash but its use is highly discouraged for reasons of forward source and binary compatibility should flash sector configuration change drastically in a product See Technical Notes 216 and 217 for more information on flash compatibility issues 17 2 4 Battery Backed RAM Static variables and global variables will always be located at the same addresses between power cycles and can only change locations via recompilation The file system can be configured to use RAM also While there may be applications where storing persistent data in RAM is acceptable for example a data logger where the data gets retrieved and the battery checked periodically keep in mind that a programming error such as an uninitialized pointer could cause RAM data to be cor rupted xalloc will allocate blocks of RAM in extended memory It
316. unctions FOEN costate task 1 wfd emergencystop for i 0 i lt MAX DEVICES i wid turnoffdevice i costate task2 wfd x buttonpushed wid turnondevice x waitfor DelaySec 60L wid turnoffdevice x costare mas a taskn Cofunctions with their ability to receive arguments and return values provide more flexibility and specificity than our previous solutions Using cofunctions new machines can be added with only trivial code changes Making but tonpushed acofunction allows more specificity because the value returned can indicate a particular button in an array of buttons Then that value can be passed as an argument to the cofunctions turnondevice and turnoffdevice 5 6 Patterns of Cooperative Multitasking Sometimes a task may be something that has a beginning and an end For example a cofunction to transmit a string of characters via the serial port begins when the cofunction is first called and continues during successive calls as control cycles around the big loop The end occurs after the last character has been sent and the wait fordone condition is satisified This type of a call to a cofunctions might look like this waitfordone SendSerial string of characters next statement The next statement will execute after the last character is sent Chapter 5 Multitasking with Dynamic C 59 Some tasks may not have an end They are endless loops For example a task
317. upt vectors The following function serAclose from Dynamic C 7 25 is not compatible with separate I amp D space asm xmem serAclose ld a iir hl spaisr_ start de iir 0xe0 ld h a ld 1 0xc0O ld a 0xc9 ret in first byte ipset 1 ld hl a ld a 0x00 disable interrupts for port ld SACRShadow a ioi ld SACR a ipres lret endasm This version of serAclose in Dynamic C 7 30 is compatible with separate I amp D space asm xmem serAclose ld a Oxc9 ipset 1 ld INTVEC_BASE SERA OFS a ret in first byte of spaisr_ start ld a 0x00 disable interrupts for port ld SACRShadow a ioi ld SACR a ipres lret endasm Chapter 11 Using Assembly Language 139 If separate I amp D space is enabled using the modifiable interrupt vector proxy in RAM adds about 80 clock cycles of overhead to the execution time of the ISR To avoid that the preferred way to set up interrupt vectors is to use the new keyword interrupt vector to set up the vector location at compile time When compiling with separate amp D space modify applications that use Set Vect Intern SetVectExtern2000 or SetVectExtern3000 touse interrupt _vector instead The following code from Samples TIMERB TIMER_ B C illustrates the change that should be made void main 1if _ SEPARATE INST DATA interrupt vector timerb intvec timerb isr telse SetVectIntern 0x0B timerb_isr setup ISR endif If interrup
318. uring a debugging session When software runs stand alone disconnected from Dynamic C such a run time error will cause a watchdog timeout and reset Run time error logging is available for Rabbit based target systems with bat tery backed RAM 8 1 Run Time Error Handling When a run time error occurs a call is made to exception The run time error type is passed to exception which then pushes various parameters on the stack and calls the installed error handler The default error handler places information on the stack disables interrupts and enters an endless loop by calling the xexit function in the BIOS Dynamic C notices this and halts execution reporting a run time error to the user 8 1 1 Error Code Ranges The table below shows the range of error codes used by Dynamic C and the range available for a custom error handler to use Please see section 8 2 on page 103 for more information on replacing the default error handler with a custom one Table 8 1 Dynamic C Error Types Ranges Error Type Meaning 0 127 Reserved for user defined error codes 128 255 Reserved for use by Dynamic C Chapter 8 Run Time Errors 101 8 1 2 Fatal Error Codes This table lists the fatal errors generated by Dynamic C Table 8 2 Dynamic C Fatal Errors Error Type Meaning 127 227 not used 228 Pointer store out of bounds 229 Array inde
319. utines had to be in root memory C Functions C functions may be placed in root memory or extended memory Access to variables in C state ments is not affected by the placement of the function Dynamic C will automatically place C functions in extended memory as root memory fills Short frequently used functions may be declared with the root keyword to force Dynamic C to load them in root memory Inline Assembly in C Functions Inline assembly code may be written in any C function regardless of whether it is compiled to extended memory or root memory All static variables even those local to extended memory functions are placed in root memory Keep this in mind if the functions have many variables or large arrays Root memory can fill up quickly 108 Dynamic C User s Manual 10 The Flash File System The Dynamic C file system known as the filesystem mk II or simply as FS2 was designed to be used with a second flash memory or in SRAM FS2 allows e the ability to overwrite parts of a file the simultaneous use of multiple device types e the ability to partition devices e efficient support for byte writable devices e better performance tuning e ahigh degree of backwards compatibility with its predecessor NOTE Dynamic C s low level flash memory access functions should not be used in the same area of the flash where the flash file system exists 10 1 General Usage The recommended use of a flash file system is
320. vial and serious warnings warns for the next physical line of code are not displayed in the Compiler Messages window The argument is optional default behavior is warnt Syntax pragma nowarn warnt warns start Trivial warnings warnt or trivial and serious warnings warns are not displayed in the Com piler Messages window until the pragma nowarn end statement is encountered The argu ment is optional default behavior is warnt pragma nowarn cannot be nested precompile Allows library functions in a comma separated list to be compiled immediately after the BIOS The precompile directive is useful for decreasing the download time when developing your program Precompiled functions will be compiled and downloaded with the BIOS instead of each time you compile and download your program The following limitations exist e Precompile functions must be defined nodebug e Any functions to be precompiled must be in a library and that library must be included either in the BIOS using a use or recursively included by those libraries e Internal BIOS functions will precompile but will not result in any improvement e Libraries that require the user to define parameters before being used can only be precompiled if those parameters are defined before the precompile statement An example of this is included in precompile 1lib e Function chains and functions using segment chains cannot be precompiled Precompiled functions wi
321. vious value is pushed on the stack after the function s return address The frame reference point moves to encompass the saved IX value Chapter 11 Using Assembly Language 129 11 4 2 Embedded Assembly Example The purpose of the following sample program asm1 c is to show the different ways to access stack based variables from assembly code void func char ch int i long lg main char ch int i long 1g ch 0x11 i 0x2233 lg 0x44556677L func ch i 1lg void func char ch int i long 1g auto int x auto int Z x 0x8888 z 0x9999 asm This is equivalent to the C statement x 0x8888 ld hl 0x8888 ld sp SP x hl This is equivalent to the C statement z 0x9999 ld hl 0x9999 ld sp SP z hl SP i gives the offset of i from the stack frame on entry On the Rabbit this is how HL is loaded with the value in i ld hl sp SP i This works if func is useix however if the IX register has been changed by the user code this code will fail ld hl ix i This method works in either case because the assembler adjusts the constant SP so changing the function to nouseix with the keyword nouseix or the compiler directive nouseix will not break the code But if SP has been changed by user code e g a push it won t work ld hl sp SP 1g 2 ld b h ld c L ld hl sp SP 1g ex de hl endasm 130 Dynamic C User s Manual 1
322. void WrlIOport int portaddr int value DESCRIPTION Writes data to the specified I O port PARAMETER1 portaddr register address of the port PARAMETER2 value data to be written to the port RETURN VALUE None KEY WORDS parallel port SEE ALSO RdIOport END DESCRIPTION 2 kkk kkk RR If this format is followed user created library functions will show up in the Function Lookup facility Note that these sections are scanned in only when Dynamic C starts 4 25 Support Files Dynamic C has several support files that are necessary in building an application These files are listed below Table 4 5 Dynamic C Support Files File Name Purpose of File DCW CFG Contains configuration data for the target controller DC HH Contains prototypes basic type definitions define and default modes i for Dynamic C This file can be modified by the programmer eae Contains a set of use directives for each control product that Z World i ships This file can be modified Contains pathnames for all libraries that are to be known to Dynamic C The programmer can add to or remove libraries from this list The factory default is for this file to contain all the libraries on the Dynamic C distribu ee tion disk Any library that is to be used in a Dynamic C program must be listed in the file LIB DIR or another DIR file specified by the user Starting with version Dynamic C 7 05 a different DIR file may be
323. w is open single stepping will be by instruction rather than by C statement Unchecking this box will disable instruction level single stepping on the target and if the assembly window is open the debug ker nel will step by C statement Defines Tab The Defines tab brings up a dialog box with a window for entering or modifying a list of defines that are global to any source file programs that are compiled and run The macros that are defined here are seen by the BIOS during its compilation Syntax OND DEFINITION DELIMETER DEFINITION DEFINITION MACRONAME WS WS VALUE DELIMETER or newline MACRONAME the same as for a macro name in a source file WS SPACE SPACET VALUE CHR CHR CHR any character except the delimeter character which is entered as the character pair Notes e Do not continue a definition in this window with simply continue typing as a long line will wrap e In this window hitting the Tab key will not enter a tab character t but will tab to the OK button The command line compiler honors all macros defined in the project file that it is directed to use with the project file switch pf or default dcp if pf is not used See command line compiler documentation e A macro redefined on the command line will supercede the definition read from the project file Chapter 14 Graphical User Interface 229 Examples and file equivalents Example DEF 1 MAXN 10
324. warning occurred during compilation The Debug Windows option opens a secondary menu whose items are toggles for displaying the like named debug windows You can scroll these windows to view larger portions of data or copy information from these windows and paste the information as text anywhere More informa tion is given below for each window At the bottom of the Window menu is a list of current windows including source code windows Click on one of these items to bring its window to the front 234 Dynamic C User s Manual Watch Select Watch to activate or deactivate the Watches window The Add Watch command on the INSPECT menu will do this too The Watches window displays the results whenever Dynamic C evaluates watch expressions Stdio Select Stdio to activate or deactivate the Stdio window The Stdio window displays output from calls to printf Ifthe program calls printf Dynamic C will activate the Stdio window automatically if it is not already open unless Automatic open is unchecked in the Debug Windows dialog in Options Environment Options Assembly Select Assembly to activate or deactivate the Disassembled Code window The Disassembled Code window aka the Assembly window displays machine code generated by the compiler in assembly language format The Disassemble at Cursor or Disassemble at Address commands from the Inspect menu also activate the Disassembled Code window Address Machine C
325. ween each of the column headers For instance if you move the mouse pointer between Address and Machine Code the pointer will change from an arrow to a vertical bar with arrows pointing to the right and left Hold the left mouse button down and drag to the right or left to grow or shrink the column Registers Select Registers to activate or deactivate the Register window This window displays the pro cessor register set including the status register Letter codes indicate the bits of the status reg ister F register The window also shows the source code line and column at which the snapshot of the register was taken It is possible to scroll back to see the progression of successive register snapshots Register values may be changed when program execution is stopped Registers PC XPC and SP may not be edited as this can adversely affect program flow and debugging See Register on page 216 for more details on this window 236 Dynamic C User s Manual Click the Stack command to activate or deactivate the Stack win dow The Stack window displays the top 32 bytes of the run time stack It also shows the line and column at which the stack snapshot was taken It is possible to scroll back to see the pro gression of successive stack snapshots Information Select the Information menu option to activate the Information window Information The Information window displays how the memory is partitioned and how wel
326. which ever registers are used in the embedded C statement will be changed asm InitValues eree cime 07 c counter 256 TeL endasm 11 1 3 Setting Breakpoints in Assembly There are two ways to enable breakpoint support in a block of assembly code One way is to explicitly mark the assembly block as debug the default condition is nodebug This causes the insertion of rst 0x28 instructions between each assembly instruction These rst 0x28 instructions may cause jump relative i e j r instructions to go out of range but this prob lem can be solved by changing the relative jump j r to an absolute jump jp The other way to enable breakpoint support in a block of assembly code is to add a C statement before the desired assembly instruction Note that the assembly code must be contained in a debug C function in order to enable C code debugging Below is an example debug dummyfunction asm function label ey add line of C code to permit a breakpoint before jump relative jr nc label ret endasm NOTE Single stepping through assembly code is always allowed if the assembly window is open 122 Dynamic C User s Manual 11 2 Assembler and Preprocessor The assembler parses most C language constant expressions A C language constant expression is one whose value is known at compile time All operators except the following are supported Table 11 1 Operators Not Supported By The
327. will be suspended and other tasks will run If F8 is pressed at the statement that calls OSSemPend the debugger will not single step in the other running tasks that have debug information single stepping will continue at the statement following the call to OSSemPend If F7 is pressed at the statement that calls OSSemPend instead of F8 the debugger will single step in the next task with debug information that is put into the running state 284 Dynamic C User s Manual Appendix A Macros and Global Variables This appendix contains descriptions of macros and global variables available in Dynamic C This is not an exhaustive list A 1 Compiler Defined Macros The macros in the following table are defined internally Default values are given where applica ble as well as directions for changing values Table A 2 Macros Defined by the Compiler Macro Name Definition and Default This is the debug baud rate The baud rate can be changed in BIOSBAUD Dr A Beene NTS the Communications tab of Project Options This is read from the System ID block or defaulted to 0x100 the BL1810 JackRabbit board if no System ID block is present This can be used for conditional compilation based on board type Board types are listed in boardtypes lib BOARD TYPE This macro identifies the CPU type e g R3000 is the Rabbit PENTE 3000 microprocessor CC VER Gives the Dynamic C version in hex i e version 7 05 is
328. wish to preserve the data in battery backed RAM on reset The numerous include files found in typical C programs are not used because Dynamic C has a library system that automatically provides function prototypes and similar header information to the compiler before the user s program is compiled This is done via the use directive This is an important topic for users who are writing their own libraries Those users should refer to the Modules section of the language chapter It is important to note that the use directive is a replacement for the include directive and the include directive is not supported When declaring pointers to functions arguments should not be used in the declaration Argu ments may be used when calling functions indirectly via pointer but the compiler will not check the argument list in the call for correctness Bit fields are not supported Separate compilation of different parts of the program is not supported or needed Chapter 2 Introduction to Dynamic C 2 3 Dynamic C Differences Between Rabbit and Z180 A major difference in the way Dynamic C interacts with a Rabbit based board compared to a Z180 or 386EX board is that Dynamic C expects no BIOS kernel to be present on the target when it starts up Dynamic C stores the BIOS kernel as a C source file Dynamic C compiles and loads it to the Rabbit target when it starts This is accomplished using the Rabbit CPU s bootstrap mode and a special progr
329. x are treated as decimal A click of the right mouse button on the flags side of the window will bring up a menu that lets you toggle the selected flag Ctrl Alt T or switch to his tory view Ctrl Alt H Chapter 14 Graphical User Interface 217 Memory Dump Apply changes to all Changes made in this dialog will be applied to all memory dump windows Allow automatic updates The memory dump window will be updated every time program execution stops breakpoint single step etc 218 Dynamic C User s Manual Show tool bar Each dump window has the option of a tool bar that has a button for updating the dumped region and a text entry box to enter a new starting dump address Show address while scrolling While using the scroll bar a small popup box appears to the right of the scroll bar and displays the address of the first byte in the window This allows you to know exactly where you are as you scroll Show current byte in hint The address and value of the byte that is under the cursor is displayed in a small popup box Show current byte in title bar The address and value of the byte that is under the cursor is displayed in the title bar Segmented Dump Range The memory dump window can display 3 different types of dumps A dump of a logical address will result in a 64k scrollable region 0x0000 Oxffff A dump of a physical address will result in a dump of a 1M region 0x00000 Oxfffff A dump
330. x Colors Tab Click on the Syntax Colors tab to display the following dialog Environment Options a m E EGTEgTGUTG CGlGT BaGkGiaurad olGT vet E define N 1000 const float SORT PI 1 77245365 the square root const char label The square root of pi is int i for i 0 i lt N i printf s f n label SQRT_PI 210 Dynamic C User s Manual Element In this text box are the different elements that may be in a file strings comments integers etc For each one you may choose a foreground and a background color You may also opt to use the default colors black for foreground and white for back ground In the Text attribues area of the dialog box you may set Bold Italic and or Underline for the any of the elements Open Save Buttons These buttons load and save color styles into files with a rgb extension Clicking the Open button will bring up an Open File dialog box where you choose a rgb file that will set all of the syntax colors There is a subdirectory titled Schemes under the root Dynamic C directory that has some predefined color schemes that can be used Open ing a rgb file makes its colors immediately active in all open editor windows If you close the Environment Options window without saving the changes the colors will go back to whatever they were before you opened the rgb file Chapter 14 Graphical User Interface 211 Code Template Tab Click the Code Template ta
331. x out of bounds 230 233 not used 234 Domain error for example acos 2 235 Range error for example tan pi 2 236 Floating point overflow 237 Long divide by zero 238 Long modulus modulus zero 239 not used 240 Integer divide by zero 241 Unexpected interrupt 242 not used 243 Codata structure corrupted 244 Virtual watchdog timeout 245 XMEM allocation failed xalloc call 246 Stack allocation failed 247 Stack deallocation failed 248 not used 249 Xmem allocation initialization failed 250 No virtual watchdog timers available 251 No valid MAC address for board 252 Invalid cofunction instance 253 Socket passed as auto variable while running wC OS I 254 not used 255 102 Dynamic C User s Manual 8 2 User Defined Error Handler Dynamic C allows replacement of the default error handler with a custom error handler This is needed to add run time error handling that would require treatment not supported by the default handler A custom error handler can also be used to change how existing run time errors are handled For example the floating point math libraries included with Dynamic C are written to allow for execu tion to continue after a domain or range error but the default error handler halts with a run time error if that state occurs If continued execution is desired the function in question would return a value of INF or whatever value is appropriate then a simple error handler could be written to pass execut
332. ximport filename symbol This compiler directive places the length of filename stored as a long and its binary contents at the next available place in xmem flash filename is assumed to be either relative to the Dynamic C installation directory or a fully qualified path symbol is a compiler generated macro that gives the physical address where the length and contents were stored The sample program ximport c illustrates the use of this compiler directive zimport Syntax zimport filename symbol This compiler directive extends the functionality of ximport to include file compression by an external utility filename is the input file and must be relative to the Dynamic C installation directory or be a fully qualified path and symbol represents the 20 bit physical address of the downloaded file The external utility supplied with Dynamic C is zcompress exe It outputs the compressed file to the same directory as the input file appending the extension DCZ E g if the input file is named test txt the output file will be named test txt dcz The first 32 bits of the out put file contains the length in bytes of the file followed by its binary contents The most signifi cant bit of the length is set to one to indicate that the file is compressed The sample program zimport c illustrates the use of this compiler directive Please see Appendix C 2 for further information regarding file compression and decompression
333. xt switch If Whole words only is checked then the search text switch would not match switches Selecting Entire scope will cause the whole document to be searched If Selected text is chosen and Persistent blocks was checked in the Editor dialog under Envi ronment Options the search will take place only in the selected text Replace lt F6 gt Finds and replaces the specified text Text may be specified by selecting it prior to opening the Replace Text dialog box Only one word may be selected if more than one word is selected the last word selected appears as the entry for the search text More than one word of text may be specified by typing it in or selecting it from the available history of search text The replacement text is typed or selected from the available history of replacement text As with the Find dialog box there are several ways to narrow or broaden the search criteria An important option is Prompt on replace If this is unchecked Dynamic C will not prompt before making the replacement which could be dangerous in combination with the choice to Replace All Find Next lt F3 gt Once search text has been specified with the Find or Replace commands the Find Next com mand will find the next occurrence of the same text searching forward or in reverse case sen sitive or not as specified with the previous Find or Replace command If the previous command was Replace the operation will be a replace R
334. ystem 113 10 3 File System API Functions These functions are defined in FS2 LIB For more information please see the Dynamic C Function Reference Manual Table 10 1 FS2 API Command Description fs_setup FS2 Alters the initial default configuration fs init FS2 Initialize the internal data structures for the file system fs format FS2 Initialize flash and the internal data structures lx format Formats a specified logical extent LX fs set_1lx FS2 Sets the default LX numbers for file creation fs get_1lx FS2 Returns the current LX number for file creation fcreate FS2 Creates a file and open it for writing fcreate unused FS2 Creates a file with an unused file number fopen_rd FS2 Opens a file for reading fopen_ wr FS2 Opens a file for writing and reading fshift Removes specified number of bytes from beginning of file fwrite FS2 Writes to a file starting at current position fread FS2 Reads from the current file pointer fseek FS2 Moves the read write pointer ftell FS2 Returns the current offset of the file pointer fs_sync FS2 Flushes any buffers retained in RAM to the underlying hardware device fflush FS2 Flushes buffers retained in RAM and associated with the specified file to the underlying hardware device fs_ get _flash_1x FS2 Returns the LX

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