RM-RA430 Salvo Compiler Reference Manual
Contents
1. Manual General Abbreviated as RA430 TE Salvo Lite LE amp Pro Available distributions for TI s MSP430 Supported targets all MSP430 and MSP430X devices Header file s salvoportra430 h Other target specific file s salvoportra430 asm salvocfg h Compiler auto detected yes Include target specific header file yes use in salvocfg h include lt msp430 h gt Libraries Lib RA430 v1 for v1 x compilers Lib RA430 v2 for v2 x compilers Context Switching function based via Located in ino OSDispatch amp OSCtxSw Labels required no Size of auto variables and total size must not exceed 255 8 bit function parameters in tasks bytes Interrupts Interrupt latency in context switcher Interrupts in critical sections controlled via Default behavior in critical sections 0 cycles user hooks see example user hooks Debugging Source level debugging with Pro library builds ye Compiler Bitfield packing support no printf p support yes yes va_arg support yes Table 1 Features of Salvo port to Rowley Associates CrossWorks for MSP430 C compiler Libraries Nomenclature The Salvo libraries for Rowley Associates CrossWorks for MSP430 C compiler follow the naming convention shown in Figure 1 RM RA430 Salvo Compiler Reference Manual CrossWorks for MSP430 3 The RTOS that runs in tiny places Type Target Option Reference Manual libsalvofra430 a hza Salvo library o configurati2. e disable global interrupts across Salvo s critical section and restore the GIE bit to its pre critical section value thereafter Interrupts are not re enabled inside of ISRs with these functions thereby avoiding unnecessary or unwanted interrupt nesting Therefore these default interrupt hooks are suitable for all applications For greater runtime performance users can replace these functions with targeted interrupt control functions by building their own version with their application For example if the Salvo service OSTimer is the only Salvo service called from the foreground i e interrupt level and it s called only via the TimerAO ISR then the following functions to disable and re enable TimerAO s interrupt enable bit are all that is required e g RM RA430 Salvo Compiler Reference Manual CrossWorks for MSP430 med VO Reference Manual void OSDisableHook void TACCTLO amp CCIE void OSEnableHook void TACCTLO CCIE Listing 6 Example of user interrupt hooks where only TimerA0 ISR calls Salvo services With the hooks shown in Listing 6 only the TimerA0O interrupt is disabled during Salvo s critical sections All other interrupts sources and the GIE bit are untouched This allows other interrupts that do not call Salvo services to proceed with zero interrupt latency due to Salvo Warning Not disabling all source of interrupts that call Salvo services during critic
3. them ideal for source level debugging and stepping in the CrossStudio debugger To use these libraries simply select one that includes the debugging information e g libsalvolra430it hza instead of one without e g libsalvolra430 t hza in your CrossStudio project RM RA430 Salvo Compiler Reference Manual CrossWorks for MSP430 The RTOS that runs in tiny places Configuration Build Settings Available Libraries RM RA430 Salvo Compiler Reference Manual CrossWorks for MSP430 Reference Manual Different library configurations are provided for different Salvo distributions and to enable the user to minimize the Salvo kernel s footprint See the Libraries chapter of the Sa vo User Manual for more information on library configurations Salvo s libraries for Rowley Associates CrossWorks for MSP430 C compiler are built using the default settings outlined in the Libraries chapter of the Salvo User Manual Target specific settings and overrides are listed in Table 2 Target specific Settings Delay sizes 8 bits dummy can be overridden disables then restores GIE bit can be overridden Watchdog hook clears WDT without other changes can be overridden System tick counter available 32 bits Task priorities enabled Idling hook Interrupt hook Table 2 Build settings and overrides for Salvo libraries for Rowley Associates CrossWorks for MSP430 C compiler Note Salvo Lite libraries have precompiled limits f
4. ES 2 Listing 2 Example salvocfg h for library build using libsalvolra430 t hza or libsalvolra430it hza Salvo Pro Source Code Build define OSENABLE_IDLING_HOOK TRUE define OSENABLE SEMAPHORES TRUE define OSTASKS 9 define OSEVENTS 17 define OSEVENT_FLAGS 2 define OSMESSAGE_QUEUES 4 Listing 3 Example salvocfg h for source code build 6 RM RA430 Salvo Compiler Reference Manual CrossWorks for MSP430 The RTOS that runs in tiny places Performance Interrupt Latencies Memory Usage User Hooks Reference Manual Since Salvo s context switcher for Rowley Associates CrossWorks for MSP430 C compiler does not need to control interrupts Salvo applications can easily be created with zero total interrupt latency for interrupts of interest In a properly configured application only those interrupts that call Salvo services will experience interrupt latency from Salvo s operations Users must ensure that these interrupt sources are disabled and re enabled via the user interrupt hooks Disabling and re enabling interrupts globally in the user interrupt hooks i e the default user interrupt hook behavior is of course permitted but will result in non zero interrupt latencies for all interrupt sources even those that do not call Salvo services See the target specific source files of this distribution for examples Example Application Progr
5. Reference Manual 750 Naples Street San Francisco CA 94112 415 584 6360 http www pumpkininc com Salvo Compiler Reference Manual CrossWorks for MSP430 J Salvo The RTOS that runs in tiny places created by Andrew E Kalman on Mar 21 2003 updated on Apr 29 2008 All trademarks mentioned herein are properties of their respective companies B savo Reference Manual The RTOS that runs in tiny places Introduction This manual is intended for Salvo users who are targeting TT s MSP430 ultra low power single chip microcontroller with Rowley Associates http www rowley co uk CrossWorks for MSP430 C compiler Related Documents The following Salvo documents should be used in conjunction with this manual when building Salvo applications with Rowley Associates CrossWorks for MSP430 C compiler e Salvo User Manual Example Projects Example Salvo projects for use with Rowley Associates CrossWorks for MSP430 C compiler and the CrossStudio IDE can be found in the Pumpkin Salvo Example MSP430 MSP430x1xx Pumpkin Salvo Example MSP430 MSP430x4xx directories of every Salvo for TI s MSP430 distribution Tip These example projects can be easily modified for any MSP430 device Features Table 1 illustrates important features of Salvo s port to Rowley Associates CrossWorks for MSP430 C compiler 2 RM RA430 Salvo Compiler Reference Manual CrossWorks for MSP430 oe ae Reference
6. al sections will cause the Salvo application to fail Watchdog The default watchdog hook in salvohook_wdt_RA430_CLRWDT c is shown below void OSClrWDTHook void WDTCTL WDTCTL amp OxOOFF WDTPW WDTCNTCL Listing 7 Default Salvo watchdog hook for Rowley Associates CrossWorks for MSP430 C compiler Users can replace it e g with a dummy function this would stop Salvo from clearing the watchdog timer and allow the user to clear it elsewhere by building their own version with their application RM RA430 Salvo Compiler Reference Manual CrossWorks for MSP430 9 med VO Reference Manual Compiler Issues Incompatible Optimizations Register Allocation The Register Allocation property should be set to None in Salvo projects Otherwise you may encounter problems in tasks that contain multiple switch statements and or other complex structures IDE Issues Salvo Libraries In version 1 4 of the CrossWorks for MSP430 IDE Salvo libraries are not automatically identified as libraries and hence their contents are missed by the linker To rectify this problem Select the library in the Project Explorer Right click to get the Properties window Select the Common configuration Set the file type of the Salvo library to be Library This is done automatically through the __CROSSWORKS_MSP430 symbol defined by the compiler Salvo 4 1 0 rcO with v1 4 compiler In bytes Salvo code only In bytes Sal
7. am Memory Data Memory Usage Usage MSP430x1xx tut5lite 1788 61 MSP430x1xx tut5le 1756 61 MSP430x1xx tut5pro 1964 61 Table 3 ROM and RAM requirements for Salvo applications built with Rowley Associates CrossWorks for MSP430 C compiler Overriding Default Hooks RM RA430 Salvo Compiler Reference Manual CrossWorks for MSP430 In library builds users can define new hook functions in their projects and the linker will choose the user function s over the default function s contained in the Salvo library In source code builds users can remove the default hook file s from the project and substitute their own hook functions The RTOS that runs in tiny places Idling Interrupt Reference Manual The default idling hook in salvohook_idle c is a dummy function as shown below void OSIdlingHook void Listing 4 Default Salvo idling hook for Rowley Associates CrossWorks for MSP430 C compiler Users can replace it e g with a directive to put the FM430 to sleep by building their own version with their application The default interrupt hooks in salvohook_interrupt_RA430_GIE c are shown below static unsigned s void OSDisableHook void s __disable_interrupt void OSEnableHook void __set_interrupt s Listing 5 Default Salvo interrupt hooks for Rowley Associates CrossWorks for MSP430 C compiler These functions clear the GIE bit i
8. on a multitasking with delays and events d multitasking with delays type e multitasking with events f freeware m multitasking only l standard t multitasking with delays and events CrossWorks tasks can wait with timeo for MSP430 option C Compiler no option target i library includes debugging information 430 for MSP430 architecture 430x for MSP430X architecture Figure 1 Salvo library nomenclature Rowley Associates CrossWorks for MSP430 C compiler Note Each successive version of Rowley Associates CrossWorks for MSP430 C compiler uses different library formats Therefore independent sets of Salvo libraries are available for each compiler Table 1 above Salvo Lite distributions contain freeware libraries All other Salvo distributions contain standard libraries See the Libraries chapter of the Salvo User Manual for more information on library types When targeting the MSP430X e g MSP430FG4619 and wishing to use MSP430X extensions i e 20 bit address space etc 430x Salvo libraries must be selected 430 Salvo libraries should be used on the MSP430 e g MSP430F1611 Salvo Pro users can select between two sets of libraries standard libraries and standard libraries incorporating source level debugging information The latter have been built with Rowley Associates CrossWorks for MSP430 C compiler s g command line option This adds source level debugging information to the libraries making
9. or the number of supported tasks events etc Salvo LE and Pro libraries have no such limits See the Libraries chapter of the Salvo User Manual for more information Salvo Lite for TI s MSP430 contains a single freeware library Salvo LE for TI s MSP430 adds standard libraries in all configurations Salvo Pro for TI s MSP430 adds standard libraries in all configurations with debugging information included Each Salvo for TI s MSP430 distribution contains the Salvo libraries of the lesser distributions beneath it Ta aav Reference Manual Target Specific Salvo Source Files The source file salvoportra430 asm is needed for Salvo Pro source code builds It automatically detects whether the target is part of the MSP430 or MSP430X architecture salvocfg h Examples Below are examples of salvocfg h project configuration files for various different Salvo distributions and the MSP430F1612 Salvo Lite Library Build define OSUSE_ LIBRARY TRUE define OSLIBRARY_TYPE OSF define OSLIBRARY CONFIG OST define OSTASKS 2 define OSEVENTS 4 define OSEVENT_FLAGS 0 define OSMESSAGE QUEUES I Listing 1 Example salvocfg h for library build using libsalvofra430 t hza Salvo LE amp Pro Library Buil define OSUSE_LIBRARY TRUE define OSLIBRARY_TYPE OSL define OSLIBRARY_CONFIG OST define OSTASKS 7 define OSEVENTS 13 define OSEVENT_FLAGS 3 define OSMESSAGE_QUEU
10. vo objects only This hook is valid for all MSP430 and MSP430X targets This hook is valid for MSP430 and MSP430X targets because the watchdog control register is the same for all targets Auk WN 10 RM RA430 Salvo Compiler Reference Manual CrossWorks for MSP430
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