MicroC/OS-II - Pi Engine - Power your web and mobile applications.
Contents
1. Notes 1 The first line of code is used to prevent a compiler warning because pdata is not used The compiler should not generate any code for this statement 2 Interrupts are enabled once the task start because the I bit of the CCR register was set to 0 by OSTaskCreate FR KK kk ee he he e ke ke e e he he e e e e e he he e He e e e he he e ke e e e he he e ke ke e e he e e ke ke e e he e ke ke e e e he e e ke e e e he e ke e e e de he ke ke e e de de ke ke ke e e de de ke ke ke e e e e ke ke e x Q 95 96 97 98 99 100 kk Andre s note the tasks priorities are higher when their number is lower also some priorities are reserved by the RTOS see JL book page 77 3 01 Tasks Page 22 of 27 AP3232 Rel 1 e MicroC OS Il technologies The Real Time Kernel Infineon TC10GP Port 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 Jan 24 20 27 2000 uCOS2test c Page 3 kk In order to create a task the call to os ctx alloc must return a non null value thru the global variable g tsk_ctx0 OSTaskCreate first will call for context allocation kk k static void AppStartTask void pdata INT8U first_time TRUE OSprintf Mxlb 2J n r Starting MicroC OS II The Real Time Ke2. The build process should be clean i e no errors no warnings The file created is called uCOS2test tce TriCore Executable The build creates other files o object files map linker map file and 1st listing files Now load the file uCOS2test tce as explained in STEP 6 above 4 5 STEP 5 Description of uCOS2test c As with most C programs the code starts in main main starts by calling OSInitTriCore to initialize processor specific registers interrupt vectors the serial I O port and more see OS CPU C C As with all wC OS II applications main needs to call OSInit to initialize uC OS II s data structures main then creates a semaphore which will be used to wake up a task upon receiving a character from the dumb terminal Main then starts AppStartTask and the calls OSStart wC OS II will start AppStartTask because that s the only task created in main AppStartTask starts off by printing Starting MicroC OS II The Real Time Kernel Infineon Tricore Version RTOS by Jean Labrosse TriCore port by Andre Gompel Size 15 Kbytes In this application a main task creates two tasks then starts them Task 1 executes once then yields time then Task 2 executes and waits for its semaphore initialized to 0 to be released by a Post or V primitive when a character is received by the on chip UART ASCO A task counter is incremented each time the task task1 is awakened Now Running AppSta
3. Line Feed 0x0A instead of only a CR as found in UNIX based editors 5 9 1 5 9 2 5 9 3 5 9 4 TriCore specific macros tc10gp h The macro OS ENABLE GW enables the access to global registers It is used because after entering an ISR the PSW GW bit is disabled And we need access to global registers Note that this macro should be used whenever entering an ISR which will later within the ISR make use of the access to critical sections macros OS ENTER CRITICAL and OS EXIT CRITICAL Startup file crt0 tri The startup file crt 0 tri has the same name and functionality as the library provided file However it is very different so no attempt should be made to use the GHS library file with same name It would not work unless modified It has to be noted that GNU uses this name for startup modules OSInitTriCore OSInitTriCore is provided to initialize the TriCore TCIOGP peripherals This function is called by main and MUST precede the call to OSInit Modification to uC OS II s OSInit OSInit has been changed to add a call to a new function called OSInitHook see OS CPU C C OSInitHook simply creates a semaphore needed by OSprintf to ensure mutual exclusion to the serial output port You should note that the creation of the semaphore could also have been done in main after the call to OSInit This would avoid having to change un C OS II s processor independent code Page 15 of 27 AP3232 Rel 1
4. technologies Microcontrollers AppNote AP3232 Clor additional file uCOS2_TC10GP_REL1P0 exe available MicroC OS Il The Real Time Kernel Ported to the Infineon TriCore TC10GP TriBoard Platform MicroC OS II which stands for Micro Controller Operating System wC OS ID is a real time kernel with performance comparable to many commercially available kernels The internals of uC OS II are described in the book by Jean J Labrosse entitled MicroC OS II The Real Time Kernel ISBN 0 87930 543 6 This book contains ALL the source code for uC OS II A port for the Infineon TriCore processor is available both from Infineon and the official uC OS II web site www uCOS II com Thousands of people around the world are using uC OS in all kinds of applications such as cameras medical instruments musical instruments engine controls network adapters highway telephone call boxes ATM machines industrial robots and many more Numerous colleges and Universities have also used uC OS and now n C OS II to teach students about real time systems Andre Gompel Microcontroller amp DSP Applications Infineon US San Jose e MicroC OS Il Infineon The Real Time Kernel oe Infineon TC10GP Port Table of Contents 1 0 INTRODUC TION eM 3 LI PREREQUISITE piiniru RE E 4 V2 A FEATURES seroit ntete seas aa is ese ee a eee 4 1 3 pC OS I LICENSING POLICY ssccaceiea Sadeices0ce eas de dehcaddeds Seas Sede lsasdde eas de dois Situ ce o
5. OSSemCreate 0 Create receive Semaphore itialized to 0 The first P primitive or OSSemPend will put task in the task waiting list REF J L s book page 306 We may want to create the task only if the context and stack requirements have been fullfilled Need more work for dynamic task creation In fact OsTakCreateExt is a macro which first initialize the CSA list for the task then call normal OsTaskCreateExt It was implemented that way to keep the processor independent code untouched OSTaskCreateExt AppStartTask p task code void 0 pdata not used here amp TaskStartStk TASK STK SIZE 1 p tos top of stk TASK 1 PRIO Task priority Zero Highest TASK 1 PRIO Task ID amp TaskStartStk 0 p bos TASK STK SIZE n of stack words void p tsk ext p Context info OS TASK OPT STK CHK OS TASK OPT STK CLR Task options Create any other task you want before we start multitasking OSStart Start multitasking i e give control to uC OS II BRR RRR RRR KKK RRR RRR ERR RK KER e ee he KK ke e ee he KERR ee he KERR ee he e ke ke e ee he he ke e e ede he ke ke e e de de je ke ke e e e de ke ke e e e STARTUP TASK Description This is an example of a startup task As mentioned in the book s text you MUST initialize the ticker only once multitasking has started Arguments pdata is the argument passed to AppStartTask by OSTaskCreate
6. o tce LFLAGS OBJS flash CC o PROJ flash tce LFLAGS F OBJS clean type make clean to clean all output files rm f ALLOBJS OBJS 1st dbg idb sym stf archive type make archive to create an archive tar cvfz PROJ tgz FILES chmod w PROJ tgz To restore the archive file tgz use tar xvfz filename where filename will be uCOS2test tgz if you do not modify this file To Build the code extract the tgz file the type make This assumes that the GHS toolchain has been installed on drive C This makefile is simple and starightforward but if you need to learn more read the O Reilly book make a good reference Tomb ouk Gb odb Gb ouk Page 20 of 27 AP3232 Rel 1 technologies MicroC OS Il The Real Time Kernel Infineon TC10GP Port Jan 24 20 27 2000 O0 1 0 Ul i UJ IN H 1ucos2test c Page 1 BRR RRR RRR hee e ee ehe RRR KK e e e ehe he RRR ee he he e ke e ee KKK e e ee he KK RRR EK KEKE RE he ke e ke e ee he KER ERE KEE e e de je ke e e e File By Modified by uC OS II The Real Time Kernel c Copyright 1998 Jean J Labrosse Plantation FL All Rights Reserved TEST C Jean J Labrosse Andre Gompel for Infineon TriCore implementation of UCOS II Andre Gompel Infineon com agompel bigfoot com Connect TriBord DB9 connector to a dumb terminal set at 9600 bds no parity 8bits no H W flow control
7. e MicroC OS II Infineon The Real Time Kernel iini cii Um Infineon TC10GP Port 2 0 TriCore PORT ASSUMPTIONS The software has been tested on the TriBoard with the TC10GP processor which contains 4 Mbytes of SDRAM The TriCore integrated GPTU is used to generate the RTOS interrupt ticks This time source allows kernel services to implement time delay functions and timeouts on certain calls I O is accomplished using a function called OSprintf which is reentrant Mutual exclusion to this function is accomplished by using a semaphore OSprintf uses an RS232 port which is configured to 9600 bps Bits Per Second 8 bits no parity 1 stop bit and no hardware handshake Transmit and Receive is interrupt driven but can easily be modified to accommodate your own requirements The RS232 port uses one of the two TriCore integrated UARTS called ASCO see the Infineon TC10GP User s Manual Page 7 of 27 AP3232 Rel 1 e MicroC OS II Infineon The Real Time Kernel hine Infineon TC10GP Port 3 0 DEVELOPMENT TOOLS The TriCore port along with wC OS II was compiled using the Green Hills Software tools for TriCore TC10GP Assembler Compiler Linker ver 1 8 9 with January 2000 patches The code size is approximately 15 Kbytes In order to modify and rebuild the code you need 1 The Green Hills Software toolchain for TriCore 2 A make utility 3 The Signum Chameleon version 2 50 or later debugger which is used to
8. 000 ticks then AppTask2 will display Task 2 waken pass up by a receive interrupt or semaphore timed out The above shows where the counter value will actually appear AppTask2 then calls OSTimeDly 1 to delay execution for one tick This function is not actually necessary but shows that you could add additional code and other service calls to wC OS II if needed Most of the time over 99 uC OS II is running its idle task In other words the above application requires so little CPU time that the CPU has nothing to do and waits for something to happen time tick or a character to be received on the RS 232C port We suggest that you try modifying uCOS2test c to add your own code You should however gain a good understanding of wC OS II before you do so Page 12 of 27 AP3232 Rel 1 e MicroC OS Il Infineon The Real Time Kernel hine Infineon TC10GP Port 5 0 CODE AND IMPLEMENTATION DESCRIPTION 5 1 Initialization MicroC OS II was written for a stack oriented machine TriCore is different see TriCore architecture manual TriCore uses a linked list in memory called context save areas This is a very elegant and powerful feature of the TriCore architecture However it diverges from a stack oriented machine to the point that some minor changes to uC OS II s processor independent code PIC have to be made For this reason the file os core c required changes 5 2 Traps The BTV Base Trap Vector register
9. H Infineon technologies MicroC OS Il The Real Time Kernel Infineon TC10GP Port 5 9 5 5 9 6 5 9 7 5 9 8 5 9 9 Task stack pointer A10 Each task has its private stack that is statically initialized at task creation Note that the stack pointer in this implementation complies with the TriCore EABI requirement for a push the stack pointer is decremented for a pop the stack pointer is incremented This implies that the stack pointer for each task is initialized to point to the last word or higher word address of the task stack Task context registers Each task has its private context registers FCX PCXI and LCX Interrupt stack pointer ISRs use the interrupt stack pointer initialized in the startup module crt0 tri Memory mapping and EBU registers settings The current build assumes that the code runs in segment 11 OxBXXXXXXX The debugger script does the following initialization EBUCON 0x0000FF68 ADDSELO 0xA0000061 ADDSEL1 OxB0000051 ADDSELZ 0x00000001 ADDSEL3 0x00000000 DRMCON1 0x00000023 BCUCON Ox4001FFFF BUSCONO 0x00420A7C BUSCON1 0x01023000 BUSCON2 0x80415FFF BUSCON3 0x80415FFF DRMCONO Ox1F000030 Building ROMable code for Flash or EPROM If you want to burn the code in flash you need to set ADDSEL1 to 0xA0000051 This will run the code from the flash starting at address 0xA0000000 which is the TCIOGP reset address You may also need to disable any external
10. HK KKK RR KKK RRR KKK ke e e KKK ke ke e RK RRR ee he KKK e ee KKK RRR KKK e e ee he KERR ke ke ke e e de de ke ke EKER ERK EKER include INCLUDES H include uCOS2test h include rename f h OS STK AppStartTaskStk 256 Word aligned implicit OS STK AppTask1Stk 256 OS STK AppTask2Stk 256 OS EVENT RxSem Receive Semaphore extern OS EVENT pSem Static void Static void Static void Static void INT8U MyDbg os tsk ext t p os tsk ext t void main void AppStartTask void pdata AppTaskl void pdata AppTask2 void pdata AppTickInit void tsk ext p tsk ext amp tsk ext char message Test of the transmit routine char p msg char amp message Initialize Context globals OSInitTriCore Initialize Tricore registers OSInit Initialize Tricore timers Init defaults create OSTaskIdle may create OSSTASKStatStk Note that for space reason only the main program is listed also look at file os cpu c c for the ASCO ISR the complete code listing would be quite bulky and also may not be up to date Page 21 of 27 AP3232 Rel 1 e MicroC OS II The Real Time Kernel Infineon TC10GP Port technologies 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 Jan 24 20 27 2000 uCOS2test c Page 2 RxSem
11. Ul i amp QN ji OY OY OY OY O1 Ul UI Ul UI Ul Ul UI Ul Ul Ul i dH d i d d ug gi ai PWWWWWWWWWWNNNNNNNNNNRFPRPRPRPRPRPRPRP PB W 0 NH O00 1OoUI 4i 0 I0 FO i00 1OYUI dH UU IO FO i000 2OYUIL H UU IO O i 000 H OY Ui HS 0 IO E O i000 H OUI HS 00 IO IL O e MicroC OS II technologies The Real Time Kernel Infineon TC10GP Port 6 0 ADDENDUM makefile and uCOS2 C listings Created mid 99 Andre Gompel initially for TriCore Rider A Updated for TC10GP Rider B on TriBoard with TC10GP chip Question s email me at agompel bigfoot com and or Andre Gompel Infineon com Several updates used Green Hill toolchain 1 8 9 with 1 2000 patch For more details read attached documentation UNIX_TOOLS opt xvw_1 0r0 Rider B For Unix build GHS path NT_GHS TOOLS c green Default installed path for GHS on Windows NT UX GHS TOOLS opt ghstrl_ 1 8 9 GPATH c cygnus cygwin b20 H i586 cygwin32 bin PROJ uCOS2test modify your project name example test for test c SIGDIR c Signum Chameleon TOOLS NT GHS TOOLS BIN TOOLS eo TOOLS cctri C compiler INCDIR TOOLS libsrc Mostly header files LIBDIR TOOLS tri Compiler Liraries LNK FILE TriBd RB 1nk TRICORE DEFS tcl0gp h COMOPTS list dual debug dwarf nostrip cpu riderb startfile dir ASFLAGS COMOPTS I INCDIR c DEMBEDDED DACODE Wa g CFLAGS COMOPTS slashcomment c l
12. eeeeeeeeeeeeeeeeaeeeeeeeaaaeeeeeaaaeeeseeaaeeeeesaaageeeeaaaes 14 5 7 Creating aT ask scene isivcavecetieencdettangecateectecebeasveuatsbenedeteeuiiaatecepedeiecasdies A EN 14 5 8 Non Standard Processor Independent Code PIC cccceeeeeeeeeeeeeeeeeeeeaeeeeeeeeaeeeeeeeaeeeeeeeaaees 14 5 9 Details of programming sisside ee etree eee a eens nn hh hne nenne nnn nr rh hn nennen snnt nnn nnne 15 5 9 1 TriCore specific macros tcl0gp h sssssesssssssssssesssseeeeeemenennn eren enne nennen 15 592 Startup Me CrO Mi prier E 15 5 9 3 OSinit riCore ciet agnen a EE cerae Ne AEE Ea EENE TEE E EEE EENEN 15 5 9 4 Modification to uC OS II s OSInit eeeesssssssssessssseseeseneeenenmenenn nnne enne 15 5 9 5 Task stack pointer AIO iiie sette ia ote tat eassa sis poe Re iamisexia E ERI Pt Ec n Rd E RR REN ERES Prud 16 539 0 Task context resisters oue Haad TER nre TEE Ere eee Peau Pe eee Pr ead 16 5 9 7 Interrupt stack pointer entrer na ENNE E EPEE XX RR RAP ERR RR KRRE 16 5 9 8 Memory mapping and EBU registers settings eseesssssssssssseseneeneneeeenn enne nnne 16 5 9 9 Building ROMable code for Flash or EPROM cceceeceeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeaeaeeeeeaaaes 16 S Merci T IU ILLIS M 17 5 9 11 BOCAS D AIER M 17 2 92 00681765 ose Mtt sb tuti 17 5 9 13 Makefile and build process sse mnm nnn nnns 18 6 0 ADDEN
13. is initialized in the startup module crtO tri It probably does not need to be changed However if you do modify the BTV initialization make sure that it points to valid memory At this time the trap handler is very crude For a real application some code needs to be added for trap recovery This may come in a subsequent version of the TriCore port 5 3 Interrupts Interrupt vectors are statically set The code is found in the file os cpu a tri I did not see the need to increase code size but if you need it writing a function to dynamically hook an interrupt node to an interrupt is a simple exercise However the exception processing must be handled carefully Currently the interrupt priorities are 2 for the Timer GPTU tick 3 for the Transmit interrupt 4 for the Receive interrupt At task creation the CCPN CPU Current Priority Number is set to 1 which will allow any of the above hardware interrupts to win arbitration If you need to change them edit the code in os cpu a tri S 4 Fast Context switching TriCore was designed for very fast context switches A context switch takes two clock cycles to save or restore all the TriCore context registers one per context This includes all 16 data registers and most but not all of the 16 address registers Read the TriCore Architecture Manual Section 4 Managing Tasks and Functions to learn more about this feature Page 13 of 27 AP3232 Rel 1 e MicroC OS II Infi
14. memory segment which are not used Set the corresponding address register LSB to 0 Page 16 of 27 AP3232 Rel 1 MicroC OS Il e Infineon The Real Time Kernel iini Um Infineon TC10GP Port 5 9 10 5 9 11 5 9 12 For the code to run you need the ENDINIT bit to be set TRUE Refer to a recent version of the documentation 1999 and later there have been some changes made You also need to disable the watchdog timer by setting WDTCON bit 3 to TRUE Then you need to modify the linker locator file TriBd_RB 1nk and map the code in segment 10 0xA0000000 Refer to the documentation for GHS or whatever linker you are using Flashable code can be created after a successful make by typing make flash The resulting file is named uCOS2test flash tce Atthe time of this writing this has not be fully tested but the generated code mapped in segment 10 will run from RAM the EBU initialization code need to be added and tested Osprintf The function OSprintf is reentrant and is added to the RTOS for Triboard It is fully compatible with the ANSI C standard library pu C OS II tick The tick source for uC OS II uses the TriCore on chip timer GPTO general purpose timer 0 See the user s manual for the TC10GP Only one 16 bit timer is used and is connected to SysClk All other timers are available to the user Note that the timer s tick function may result in a task preemption so it is recommended to avo
15. DUM makefile and uCOS2 C listings cece cecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeness 19 EE Bec uu E EEEE E E 26 1E o oo s panisi M 27 9 0 ACKNOWLEDGEMENTS diserte tegi Ru ciues bRUps aa uesua ust Re pe cp und aaae uj RUE apa S nun a depo RE patsa nad 27 Page 2 of 27 AP3232 Rel 1 e MicroC OS II Infineon The Real Time Kernel hine Infineon TC10GP Port 1 0 INTRODUCTION MicroC OS II also known as wC OS II is a Real Time Operating System RTOS written by Jean J Labrosse Labrosse wrote an early version of this RTOS for Embedded Systems Programming ESP magazine back in 1992 The article described this RTOS called COS and was published in two consecutive months May and June 1992 The article was one of the most popular articles published by ESP Later that year Labrosse expanded upon the article and introduced his first book called wC OS The Real Time Kernel published by R amp D Books This book sold well over 15 000 copies all around the world The second edition of uC OS was introduced in 1999 and consisted of an almost totally rewritten book This book is called MicroC OS II The Real Time Kernel and is now considered a classic for anyone who wants to learn about Real Time Operating Systems Sudhir Verman manager of the RTOS activities for Infineon asked me to do the MicroC OS II port to the Infineon TriCore TC10GP Initially this was a background activity i e part time and
16. E Task body always written as an infinite loop 152 if first_time 153 154 first time FALSE 155 156 Task code goes HERE 157 OSTimeDly 1 Delay task execution for one clock tick 158 159 160 161 PAGE 162 163 kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk 164 TASK 1 165 166 Description This is an example of a task 167 Arguments pdata is the argument passed to AppTaskl by OSTaskCreate 168 Notes 1 The first line of code is used to prevent a compiler warning because pdata is no 169 not used The compiler should not generate any code for this statement 170 2 Interrupts are enabled once the task start because the I bit of the CCR register was 171 set to 0 by OSTaskCreate 172 kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk 173 174 175 static void AppTaskl void pdata 176 177 INT32U TasklCtr 0 178 Static char q 51 179 Task initialization code goes HERE 180 q 0 q 1 qI21 q 3 181 OSprintf n r Task 1 TaskCtr d TasklCtr 182 while TRUE Task body always written as an infinite loop 183 Task code goes HERE 184 Task1lCtr 185 OSprintf Nr Taskl pass d 5c TasklCtr q TasklCtr amp 3 186 OSTimeDlyHMSM 0 0 2 0 Delay task e
17. blems EDN magazine September 29 1982 p145 This article introduces the use of semaphores for mutual exclusion TriCore Architecture Manual Infineon Technologies Contains information related to the TC10GP chip used on the TriBoard like memory map peripheral register addresses GPTU timer ASC UART programming information and more TCI0GP User s manual Infineon Technologies Triboard Hardware Manual Infineon Technology Munich Documentation related with Green Hills Software compiler released as a set of PDF files or documentation related to the assembler compiler linker that you are using Page 26 of 27 AP3232 Rel 1 e MicroC OS II Infineon The Real Time Kernel sa Infineon TC10GP Port 8 0 Web Sites The Infineon Technology TriCore web site http www infineon com tricore You will find information on the latest TriCore architecture user s manual and more on this web site The wC OS II web site http www uCOS II com 9 0 ACKNOWLEDGEMENTS A special thanks to in alphabetic order Robert Chyla at Signum Systems for the help and enhancements Jean J Labrosse Mister wC OS for promptly and patiently replying to my emails and clarifying the details of the kernel port Jean your enthusiasm is contagious The TriCore architecture team In San Jose to each and all of you for your continuous support and patience Daniel Jithendra Karl Heinz Ravi Roger Steve For your competent and
18. de 4 0 STEP 1 Extract the source Execute the provided self extracting zip file u4COS2 TCI0GP RELIPO exe Assuming your installation drive is C this archive will create the following directory structure C software uCOS II TC10GP Ghs Source for the source code and C software uCOS II TC1LOGP Ghs Doc for the documentation files Although not a requirement this structure is recommended by Jean J Labrosse When you are done you will have all the required files including one or more files with a tce extension which stands for TriCore Executable in the folder containing the source code 4 3 STEP 2 Copy debugger script Copy the startup script TB TC10GP 4M SDRAM mac from the Doc folder into the Signum executable directory which is usually c Signum Chameleon to the file tricore mac This script may be useful to initialize the TriCore ADDRESS and BUSCON registers 4 4 STEP 3 Load and Run Using the provided executable a Make sure that the Signum debugger works properly with the board If necessary use Signum technical support You should be able to see the CPU registers etc Click on the top left icon and load the file ucOoS2test tce Page 9 of 27 AP3232 Rel 1 o Infineon technologies MicroC OS Il The Real Time Kernel Infineon TC10GP Port b Connect the TriBoard DB9 connector 9 pins next to the printer connector to a dumb terminal I have been using the Windows NT hyper terminal configur
19. download the code to the TriBoard 4 The following utilities which are also needed and invoked from the makefile These are available from the MKS Toolkit which is available for Windows NT grep sed rm You can use non EABI compliant C compilers with the TriCore port but this may require some rewriting of the low level code This is due to the fact that the parameter passing both ways between the C code and the assembly code assume the content and availability of certain registers Page 8 of 27 AP3232 Rel 1 e MicroC OS II Infineon The Real Time Kernel hine Infineon TC10GP Port 4 0 BUILDING AND RUNNING THE CODE For this port the Windows NT environment is assumed Although the C drive is used the build is not drive specific Also note that you can run the code without re building it as the executable compiled with debug options is provided in the file uCOS2test tce 4 4 STEP 0 Setup and Documentation a Verify that the TriBoard TC10GP s on board oscillator on 14 pin DIP socket is marked 16 0000 MHz b You have the Green Hills Software toolchain installed version 1 8 9 with patch or newer c The make and rm utilities should be available in your path These are only required to re build the code not to run it d The Signum Chameleon debugger version 2 50 or later should be installed e You have a copy of Jean J Labrosse s book MicroC OS II The Real Time Kernel if you want reference to the source co
20. ed as c d e e COMI e 9600 Baud e 8 bits e No parity e No hardware handshake e VT100 emulation Check that the TriBoard DIP switches are set as follows e SW OFF e SW2 ON e SW3 ON e SWA ON e SW5 OFF e SW6 OFF e SW7 ON e SW8 ON Check that the TriBoard Jumpers are set as follows e JP401 ON towards the board s edge e JP402 ON towards the board s edge e JP501 ON towards the board s edge Run the code by clicking on the RUN icon The dumb terminal should display a message and task 1 should be running continuously Once in a while TASK 2 which is waiting for a semaphore will display a message due to the semaphore time out If you press a key on the dumb terminal the ASCO receive interrupt will signal the semaphore by calling the un C OS II function OSSemPost This action will wake up the task 4 4 STEP 4 Building the code The makefile provided with the TriCore port will work without modifications if the Green Hills toolchain is properly installed assuming you installed the compiler on the C drive Also the file Regdefb h in the Doc folder has been updated and copied to c green tria include The next release of the Green Hills tools should integrate these changes Important The toolchain needs a patch that was released in early January 2000 Type make Page 10 of 27 AP3232 Rel 1 e MicroC OS II Infineon The Real Time Kernel iibi cium Infineon TC10GP Port
21. friendly support clarifying the details of the architecture And for being there every time I needed your help to understand this new beast called TriCore The TriBoard design team in Munich Ewald and Holger for helping with the TriBoard Also thanks for some of the seed code which made the task easier I hope you will use uC OS II and have fun with it Sudhir Infineon San Jose for the opportunity This was challenging and fun Steven Ginzburg at Green Hills Software for all the support and patience You were very nice To all the people I must have forgotten in this forgive me for the omission just take this as an unintentional oops Andre Gompel Page 27 of 27 AP3232 Rel 1
22. id modifying timer 0 code Code size The code size for the sample code which includes uC OS II has been optimized for size and does not contain any debug information The code size the text segment is about 15 Kbytes Smaller code size could be expected with newer versions of the compiler or a different compiler Below is the output from the linker Spad 4 0x00000004 contexts 12 0x0000000C intstack 384 0x00000180 traps 256 0x00000100 interrupts 256 0x00000100 text 14464 0x00003880 Syscall 8 0x00000008 data 12 0x0000000C bss 24524 0x00005FCC heap 65536 0x00010000 Stack 5120 0x00001400 rodata 1164 0x0000048C romdata 12 0x0000000C Total 111752 0x0001B488 Page 17 of 27 AP3232 Rel 1 MicroC OS Il e Infineon The Real Time Kernel hine Infineon TC10GP Port 5 9 13 The code quality of the compiler is quite good However if the size of the code is an issue you can remove some of the features in pC OS II see OS_CFG H which may save you a few kilobytes In this case I would suggest a look at Jean Labrosse s book Programming with C OS II is very straightforward At the time of this writing there is no known deviation from Jean Labrosse s book The example code uCOS2test c is simplistic If you wish to rebuild it under a different name just change it in the makefile see PROJ line 16 It is recommended to redo the build in a dedicated directory where you can expand the tgz file prior to m
23. is written in highly portable ANSI C with target microprocessor specific code written in assembly language Assembly language is kept to a minimum to make uC OS II easy to port to other processors ROMable uC OS II was designed for embedded applications This means that if you have the proper tool chain i e C compiler assembler and linker locator you can embed n C OS II as part of a product Scalable uC OS II was designed so that you can use only the services that you need in your application This means that a product can have just a few of wC OS II s services while another product can have the full set of features This allows you to reduce the amount of memory both RAM and ROM needed by pwC OS II on a product per product basis Scalability is accomplished with the use of conditional compilation You simply specify through define constants which features you need for your application product wC OS II was designed to reduce both the code and data space Preemptive uC OS II is a fully preemptive real time kernel This means that n C OS II always runs the highest priority task that is ready Most commercial kernels are preemptive and uC OS II is comparable in performance with many of them Page 4 of 27 AP3232 Rel 1 e MicroC OS II Infineon The Real Time Kernel Ci Infineon TC10GP Port Multi tasking uC OS II can manage up to 64 tasks however the current version of the software reserves eight 8 of these ta
24. ist noasmwarn pragma asm inline passsource D LANGUAGE C OS G nosym LFLAGS COMOPTS LNK FILE lnk map LFLAGS F COMOPTS TriBdFlash lnk lnk map ALLOBJS PROJ tce INCLUDES includes h os cfg h os cpu h uCOS II h Tcl0GP h OBJS PROJ O os core o os cpu a o os cpu c o os mbox o os mem o os q o os sem o os task o os time o FILES PROJ c makefile LNK FILE NDocN crt0 tri os cpu a tri os core c os cpu c c os mbox c os mem c os q c os sem c os task c os time c includes h os cpu h uCOS2test h os cfg h TRICORE DEFS ucos ii h lcd h rename f h PROJ tce PROJ flash tce SUFFIXES tri c o tce C 0 CC lt CFLAGS tri o CC lt o 0 ASFLAGS all S PROJ tce crt0 o TRICORE DEFS crt0 tri Page 19 of 27 AP3232 Rel 1 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 MicroC OS Il The Real Time Kernel Infineon TC10GP Port os_cpu_a o TRICORE DEFS os cpu a tri PROJ o os core o os cpu c o os mbox o INCLUDES PROJ c rename f h example uCOS2test c INCLUDES os core c rename f h INCLUDES os cpu c c INCLUDES os mbox c os mem o INCLUDES os mem c os q o INCLUDES os q c os sem o INCLUDES os sem c os task o os time o INCLUDES os task c INCLUDES os time c PROJ tce OBJS crt0 o LNK FILE CC
25. neon The Real Time Kernel hine Infineon TC10GP Port S 5 Task switching This code is very efficient since it takes advantage of the TriCore architecture A task switch is normally triggered by means of a system call The related code is in os cpu a tri and also GS cpu c c Some further optimizations of the RTOS would be possible but have not been attempted so far This is possible because TriCore has some built in features which have not been used by this port This may allow to further reduce context switching reduce the code size and decrease interrupt latency The optimizations have not been performed to avoid changing wC OS II s processor independent code 5 6 Critical sections access and lock The simplest way to enter a critical section is described by Jean Labrosse OS CRITICAL METHOD number 1 This simply consists of disabling interrupts before entering a critical section and re enabling upon exiting the critical section It has some annoying side effects which are described in Labrosse s book see Section 9 03 02 OS CRITICAL METHOD number 2 also see section 9 03 02 which consist of saving and then restoring the ICR register This was the method chosen because it prevents running into the problems described in the book 5 7 Creating a Task Only the function OSTaskCreateExt is supported In other words yu MUST NOT use OSTaskCreate OSTaskCreateExt does everything OSTaskCreate does and more OSTaskCreate i
26. ode can be freely distributed to students by accredited Colleges and Universities without requiring a license as long as there is no commercial application involved In other words no licensing is required if wC OS II is used for educational use You MUST obtain an Object Code Distribution License to embed wC OS II in a product In other words you must obtain a license to put wC OS II in a product that is sold with the intent to make a profit There will be a license fee for such situations and you will need to contact Micrium Inc see below for pricing You MUST obtain an Source Code Distribution License to distribute uC OS Il s source code Again there will be a fee for such a license and you will need to contact Micrium Inc see below for pricing Page 5 of 27 AP3232 Rel 1 e MicroC OS Il Infineon The Real Time Kernel himen Infineon TC10GP Port For licensing information send an e mail to Licensing Micrium com Or write to Micrium Inc 949 Crestview Circle Weston FL 33327 U S A 1 954 217 2036 1 954 217 2037 FAX 1 4 nC OS II WEB SITE The official uC OS II WEB site www uCOS II com contains the following information News on uC OS II Availability of ports to other processor architectures Answers to frequently asked questions FAQs Application notes List of recommended books List of classes courses being offered Links to other WEB sites and More Page 6 of 27 AP3232 Rel 1
27. odifying the makefile Makefile and build process You need to read this section only to modify the code Familiarity with the structure of a makefile is assumed Note that lines 30 and 33 have the G and g flags for building with debug information In order to do a build without debug information just comment out the WA and G by placing a to their left Also if your GHS toolchain is not under the default configuration you may have to modify line 12 To build the code just type make this assumes that the make utility is in the path It is also assumed that rm tar and chmod are available Type make clean to delete all the object files Type make flash to build the code for flash This will create the file uCOS2test flash tce mapped in segment 10 0xA0000000 Note that at the time of this writing the generated code has only been tested in RAM and lacks some register initialization EBU registers mostly Type make to rebuild the code after a make clean or modification of one of the source files Type make archive to recreate an archive with all the files encapsulated in a file with the name of the project and a tgz extension Note that the output file will be write protected therefore for success you may have to delete rename or unprotect the previously made archive file Note that the released makefile may be slightly different from the file listed below Page 18 of 27 AP3232 Rel 1 Q0 0 1 0
28. of the TriCore port does not take full advantage of some of the advanced features of the TriCore architecture To fully take advantage of some of the TriCore features would require changes to uC OS II s processor independent code So far attempts have been made to make minimal changes to this part of the code Page 3 of 27 AP3232 Rel 1 e MicroC OS II Infineon The Real Time Kernel hine Infineon TC10GP Port 1 1 PREREQUISITE This application note assumes a basic understanding of real time kernels and that you are familiar with C I also assume that you have access to Jean J Labrosse s book Without the book you may not understand some of wC OS II s subtleties and this would make your understanding of the TriCore port more difficult If this is your first contact with an RTOS you should read the first few chapters of this book 1 2 n C OS II FEATURES Source Code The uC OS II book contains ALL the source code for this RTOS Many commercial real time kernels are provided in source form You will have a hard time finding source code that is as neat consistent well commented and organized as nC OS II s Giving you the source code is not enough You need to know how the code works and how the different pieces fit together You will find this type of information in the book The organization of a real time kernel is not always apparent by staring at many source files and thousands of lines of code Portable Most of wC OS II
29. rnel Infineon TriCore version OSprintf n r RTOS by Jean Labrosse TriCore port by Andre Gompel Size 15 Kbytes n r OSprintf n r In this application a main task creates two tasks then start them OSprintf n r Task 1 execute once then yield time the Task 2 execute and wait its semaphore initialized to 0 to be released by a Post or V primitive when a character is received by the on chip UART ASCO N n n r A task couter is incremented each time the task task1 is waken up n r Now Running OSStatInit OSTaskCreateExt AppTaskl p task code void 0 pdata not used here amp TaskStartStk TASK STK SIZE 1 p tos top of stk TASK 2 PRIO Task priority TASK 2 PRIO Task ID amp TaskStartStk 0 p bos sizeof AppTask1Stk sizeof OS STK n of stack words void p tsk ext p Context info 0 Task options OSTaskCreateExt AppTask2 p task code void 0 pdata not used here amp TaskStartStk TASK STK SIZE 1 p tos top of stk TASK 3 PRIO Task priority TASK 3 PRIO Task ID amp TaskStartStk 0 p bos sizeof AppTask1Stk sizeof OS STK n of stack words void p tsk ext p Context info 0 Task options OSprintf n r Starting AppStartTask infinite loop Page 23 of 27 AP3232 Rel 1 e MicroC OS II The Real Time Kernel Infineon TC10GP Port technologies Jan 24 20 27 2000 uCOS2test c Page 4 151 while TRU
30. rtTask then calls OSStatInit to initialize wC OS II s statistics task which is used to compute available CPU time AppStartTask then creates two application tasks AppTask1 and AppTask2 When the two tasks are created AppStartTask prints out Starting AppStartTask infinite loop AppStartTask then enters an infinite loop which basically does nothing except run every clock tick and gives up the CPU Alternatively this task could have deleted itself i e terminated itself AppTask1 starts off by printing Task 1 TaskCtr O AppTask1 then enters an infinite loop increments a task counter displays its value as well as one of four character V or which is basically showing a rotating wheel Task 1 pass 1 AppTask1 then calls osTimepiyHMSM to delay the task for 2 seconds At this point wC OS II suspends execution of AppTaski until the desired delay expires After 2 seconds uC OS II returns to AppTask1 and toggles the on board LED Page 11 of 27 AP3232 Rel 1 e MicroC OS Il Infineon The Real Time Kernel himen Infineon TC10GP Port When n C OS II first executes AppTask2 this task displays Task 2 now waiting for an ASCO interrupt to release the semaphore Pass 0 AppTask2 then increments a counter and waits for the semaphore to be signaled or a timeout to expire after 10 000 ticks If you type a character at the dumb terminal or nothing during the time it takes to count 10
31. s a legacy function from the previous version of n C OS i e the predecessor of uC OS II Furthermore porting code from uC OS will not be a problem just replace the call to OSTaskCreate by a call to OSTaskCreateExt and supply the additional arguments Note that in the code I have used the task ID is the same as the task priority number Also take note that priority number 0 is the highest priority number while priority 63 is the lowest 5 8 Non Standard Processor Independent Code PIC Jean Labrosse intended to have most of the code in n C OS II processor independent For the TriCore port I had to slightly modify OS CORE C The other PIC files are untouched The TriCore specific files for the port are os cpu c c os cpu a tri tclO0gp h and rename f h Page 14 of 27 AP3232 Rel 1 MicroC OS Il e Infineon The Real Time Kernel him Infineon TC10GP Port The following functions have been changed in O8 CORE C OSIntEnter OSIntExit OSTCBInit OSInit added a call to OSInitHook The changes are minor and documented in the code The changes are mostly due to the context oriented architecture of TriCore Also the GW bit has to be set In ISRs it s being cleared by default 5 9 Details of programming In ord the fil er to view the files properly set the TAB character to 4 spaces in your favorite editor Also es are DOS format meaning that each line ends with a CR Carriage Return 0x0D and LF
32. sks for system use This leaves your application with up to 56 tasks Each task has a unique priority assigned to it This means that nC OS II cannot do round robin scheduling There are thus 64 priority levels Deterministic Execution time of all uC OS II functions and services are deterministic This means that you can always know how much time wC OS II will take to execute a function or a service Furthermore except for one service execution time of all wC OS II services does not depend on the number of tasks running in your application Services uC OS II provides a number of system services such as mailboxes queues semaphores fixed sized memory partitions time related functions etc Interrupt Management Interrupts can suspend the execution of a task and if a higher priority task is awakened as a result of the interrupt the highest priority task will run as soon as all nested interrupts complete Interrupts can be nested up to 255 levels deep Robust and reliable uC OS II is based on wC OS which has been used in hundreds of commercial applications since 1992 wC OS II uses the same core and most of the same functions as wC OS yet offers many more features wC OS II has attained FAA DO 178B level B certification and will soon attain level A certification 1 3 nC OS II LICENSING POLICY uC OS II is a great real time kernel and has proven itself in countless applications all around the world uC OS II s source and object c
33. te uia cs S beu dus 5 LA nc sSdI WEB SITE e iieeccdaeicecos2iftuce ccs duso setae sitat io ai ean strada Rari Rule RAAG Mi EORR E ENSEM EES Eina Nn 6 2 0 TriCore PORT ASSUMPTIONS etri es toes Sons eo Tasa eee tes nd eredi es si oiu Ep cus 7 20 DEVELOPMENT TODQOLB nde tnm ices tein a AERE Eea EE E EE 8 4 0 BUILDING AND RUNNING THE CODE senem rennen enne nennen nnn 9 4 1 STEP 0 Setup and Documentation eese nnne hnn eren nnne 9 4 2 STEP 1 Extract the source 20 0 cccceeceeceeee eee eee eee e eee eee nikaren e eae eee eaaaaeeeeaaaaeeeeeaeaeesesaaaeeesaaaeeesaaes 9 43 5 LEP 2 Copy debugger SCEIDL engasa aa a A a aa inha 9 4 4 STEP 3 Load and Run Using the provided executable esee 9 44 STEP 4 Building the code tener emer tener cgend yeh yea vanes gent Ea X XAR RE PRKA veces Rx YRER 10 4 5 STEP 5 Description of uCOS2test c ssssssssssssssssssessese nennen hene nne hn r esent nnns nnns 11 5 0 CODE AND IMPLEMENTATION DESCRIPTION tata pu tonta R ne Php pra nenne Rec RpRvRuERRS 13 Sill GENES T L pania anaa a a nane NOAS 13 32 Traps obe EE 13 5 3 risque c 13 5 4 Fast Context switching sssseeeeseeesseeeneeenne hme nnn hne nnn nen n nnn rh nnn eene e n nnn nennen 13 Ded Lask Switching ERE ii ada aaa aaaea a EEEa eE aea a A EAA IA 14 5 6 Critical sections access and lock cceceeeceeeeeee eee
34. the first version was done for an early version silicon of TriCore called Rider A Because the port was a spare time activity it took nearly six weeks to get a functional version Then the real silicon came out and contained some changes although minor from the programmer s standpoint The RTOS port was then finalized for use with a board called the TriBoard developed by Infineon in Munich Germany Doing the TriCore port of MicroC OS II has been an enjoyable experience I hope you will enjoy using it If you need an RTOS you may want to consider wC OS II because it s robust has a small footprint you get the source code and the book explains its architecture and use Since all the source code is provided with the uC OS II book you can modify it to suit your own needs The book and the source code are good complements to the TriCore documentation This is the first release of the TriCore port One of the goals was to make the port simple The main objective was to get good performance especially on task switching by the scheduler make the port straightforward and easy to understand and therefore allow you to modify it to your needs Every attempt has been made to make the TriCore port consistent with Jean Labrosse s implementation no function has been renamed and pretty much everything works as documented in Jean Labrosse s book with the exception that TriCore is a context rather than a stack oriented processor This release
35. xecution for 1 second 187 PO OUT 0x80 188 189 190 191 static void AppTask2 void pdata 192 193 INT32U Task2Ctr 0 194 INT8U error 195 Task initialization code goes HERE 196 OSprintf 197 n r Task 2 now waiting for an ASCO interrupt to release the semaphore 198 Pass d n r Task2Ctr 199 while TRUE Task body always written as an infinite loop 200 Task code goes HERE Page 24 of 27 AP3232 Rel 1 e MicroC OS II The Real Time Kernel Infineon TC10GP Port technologies Jan 24 20 27 2000 uCOS2test c Page 5 201 202 Task2Ctr 203 204 OSSemPend RxSem 10000 amp error Do a P primitive on the semaphore 205 206 OSprintf n r Task 2 waken pass d up by a receive interrupt or semaphore timed out n r Task2Ctr 207 208 OSTimeDly 1 Delay task execution for one clock tick 209 210 Page 25 of 27 AP3232 Rel 1 e MicroC OS Il Infineon The Real Time Kernel hine Infineon TC10GP Port 7 0 BIBLIOGRAPHY MicroC OS II The Real Time Kernel Jean J Labrosse R amp D Books ISBN 0 87930 543 6 The C PROGRAMMING LANGUAGE ANSI Brian W Kernigan Dennis M Ritchie second edition Prentice Hall ISBN 0 13 110362 8 Communication of the ACM Vol 11 No 5 May 1968 pp 345 346 Copyright O 1968 Related to Edsger W Dijkstra who described the use of semaphores in multitasking systems Multitasking PASCAL extensions solve concurrency pro
Download Pdf Manuals
Related Search