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INtime 4.0 Quick Start Guide

1. 40 Device Configuration Applet ccc eeeeeeeeeeees 42 Starting a Spider Debug Session cee 43 Reaching a Breakpoint in Spider 44 Copyright 2005 2009 TenAsys Corporation Welcome Before You Begin Thank you for your interest in INtime The INtime RTOS for Windows offers a unique solution for developing embedded real time applications for the Microsoft Windows platform Your real time applications can run as part of a system that includes the Windows OS or as a standalone real time application on dedicated x86 hardware Best of all you create real time applications using the same Visual Studio development tools you now use to create regular Windows applications This guide will help you become familiar with the INtime development tools Detailed technical information about the INtime software architecture kernel and APIs can be found in the online help files and user manuals Notational Conventions This guide uses the following conventions e All numbers are decimal unless otherwise stated e Bit 0 is the low order bit If a bit is set to 1 the associated description is true unless stated otherwise e Data structures and syntax strings appear in this font Notes indicate important information about the product Tips indicate alternate techniques or procedures that you can use to save time or better understand the product Requirements The tutorial applications in this guide will be built an
2. exit 0 Convert message from ASCI to Unicode LPTSTR lpsz new TCHAR recv_buf size 1 _tescpy lpsz recv_buf Update Edit box with value SetDlgItemText IDC_rxDATA lpsz UpdateData page 24 of 46 Copyright 2005 2009 TenAsys Corporation Running the Complete Solution 1 Start the INtime kernel 2 Open INtime Explorer select the Local node and press OK INtex will show all processes running on the INtime kernel It will also show any mailboxes associated with those processes 3 Start NTXData exe within Visual Studio by depressing the F5 key Recall that NTXData automatically loads and starts RTData 4 After NTXData starts you should be able to locate RTData in the INtex process tree remember to enable automatic refresh in the INtex options if you do not see RTData appear in the process list 5 Open the RTData process to see the data mailbox objects MY_MBOX_1 and MY_MBOX_2 and the INtime region object 6 Type something into the IDC_DATA Edit Control and click the Send Data button Your message will display in the RTData console window and the words Msg revd will appear in the IDC_rxDATA Edit Control where corresponds to the message sequence number Figure 18 Running the Complete Solution gt E RT VO Console 0x22A8 Ee x J TData started a TData finished initialization hread for IBOX_1 starte hread for MY_MBOX_1 waiting hread for MY_MBOX_2 started hread for MY_MBO
3. if SendRtData hDmbx test 5 y sprintf retMessage s i Msg rcvd x if SendRtData hDmbx retMessage y Fail Cannot send to data mailbox Copyright 2005 2009 TenAsys Corporation page 17 of 46 We are ready to build the application Choose Build Build Solution from the Visual Studio menu to compile and link Check the Debug folder in your RTData project directory and you should find an RTData rta file among others This is the real time process executable equivalent to a Windows EXE file Ignore any warnings regarding unreferenced local variables these are vestiges of code we deleted in the edits above Creating the Windows Process When we create the Windows part of our application we need to setup the project environment so it includes NTX support Creating the Windows application will take a few steps Create the Project and Setup the Environment Note These instructions are specific to Visual Studio 2005 but should also work for 2008 1 Start Visual Studio 2 From the menu select File New Project 3 Within Visual C Projects open the MFC folder and select the MFC Application template 4 Specify NTXData as the project name and save the project to your INtimeA pps folder Figure 14 Selecting the MFC Application Template New Project r Le m Project types Templates E B Visual C Visual Studio installed templates ina mi mig ar Gr aa ml
4. NTXHANDLE ANtx hRemoteApp CString tmp intervening lines removed for brevity TODO Add extra initialization here Launch RTA Application First set the location of the node Typically you would want to use a browser to select from the available nodes For this example we will hard code the node to Local ANtx ntxGetLocationByName Local check to see that the node is there if ntxGetRtStatus hNtx E OK MessageBoxEx NULL _T RT Machine not present _T NTXData MB_ICONERROR MB OKCANCEL LANG ENGLISH exit 0 Now launch the RTData rta application hRemoteApp ntxCreateRtProcess ANtx T C INtimeApps RTData Debug RTData rta NULL NULL NTX_PROC_SHOW_PROGRESS if hRemoteApp NTX_BAD NTXHANDLE tmp Cannot load file MessageBox tmp page 22 of 46 Copyright 2005 2009 TenAsys Corporation EndWaitCursor exit 0 return TRUE return TRUE unless you set the focus to a control Note If RTData rta is located some place other than C INtimeApps RTData Debug make the appropriate changes to your code see the directory name used in the code above The last change necessary to complete the application is in the code behind the Send Data button This code consists of a sequence of NTX API calls to retrieve handles for the real time root process the RTData process and the data mailboxes MY_MBOX_1 and MY_MBOX_2 The member var
5. p mesman mesmm Data to Send Reply Message Leave the OK and Cancel buttons as part of the dialog box You will be able to use them to close the NTXData application Edit the Code We will add code to start the RTData rta process when NTXData exe starts using the INtime NTX API 1 Declarations for the real time handles must be marked as protected Open the NTXDataDlg h header file Add a include ntx h line at the top of the file In the protected section of the class definition add declarations for the handles needed to locate the RTData process and access the data mailboxes Copyright 2005 2009 TenAsys Corporation page 21 of 46 NTXDataDlg h header file include ntx h pragma once intervening lines removed for brevity Implementation protected 4 HICON m_hIcon The handles to the root processes RTData and mail box NTXHANDLE m_RootProcess NTXHANDLE m_TestNTXProcess NTXHANDLE m_RtMailbox_1 m_RtMailbox_2 Generated message map functions virtual BOOL OnInitDialog afx_msg void OnSysCommand UINT nID LPARAM 1Param afx_msg void OnPaint afx_msg HCURSOR OnQueryDragIcon DECLARE MESSAGE MAP 7 Open NTXDataDlg cpp When NTXData exe starts it will load the RTData rta application 5 In CNTXDataDlg OnInitDialog add the following initialization code to load and start the RTAData rta application BOOL CNTXDataDlg OnInitDialog
6. Figure 30 Figure 31 Figure 32 page 2 of 46 Figures Entering License Codes ceceeesseeeeeenneeeeeeeeees 5 Starting the INtime Application Wizard 0 6 Creating a New INtime Project 7 Selecting Process Elements ccccceessseeeeeseeeeeees 7 Specifying Polling Thread Parameters 8 Wizard Summary Screen 00 0 eeeeeeesseeesenneeeeeeeneeees 8 Files Generated by the Wizard 9 Starting INtime Explorer eee eeeseeeeeeneeeerees 10 Configuring INtime Explorer Options 11 HelloWorld Console Window cceeseseeeeees 11 Terminating the HelloWorld Process 12 Setting a Breakpoint eee eeesseeeeeeeneeeeeenaes 13 Basic INtime Solution Architecture 14 Selecting the MFC Application Template 18 MFC Application Type Selections 19 Specifying Additional Include Directories 20 NTXData Dialog Box eeeeeeeeseeeeeesneeeeeenaes 21 Running the Complete Solution eee 25 Comparison of Real time Systems eee 26 Modifying Thread Parameters 28 Modifying Thread Parameters 28 MultiThread Project Summary scce 29 MultiThread Application Output esec 32 INSCOPE EVEN EI TACO ioii ia n a o OE 33 Zoomed Inscope Trace ccceeesesecesssseeeeeenseeeeees 35 Intex View of the Multithread App eee 36 INtime Control Panel Applet eeeseceseerrreeerese 38 Node Management Kernel Tab 39 Node Management System Wide Tab
7. File PollThread3 c prio 170 nucleus sleep 20 msec You use C as your programming language The initial set of modules can be extended as necessary 10 If everything is fine click OK at the summary screen otherwise push the Cancel button and create a MultiThread project that matches the parameters specified above 11 After clicking OK the wizard will build your project files Three PollThread c files will be created Each PollThread c file corresponds to one of the three polling thread elements we created using the INtime application wizard 12 Add the two global variables shown below to the beginning of MultiThread c for communicating between our timing threads void PolliThread3 void DWORD dwPollThread1 DWORD dwPollThread2 module variables 13 Don t forget to include external declarations in the header file MultiThread h for the two global variables we added above extern DWORD dwPollThread1 extern DWORD dwPollThread2 Copyright 2005 2009 TenAsys Corporation page 29 of 46 14 To easily identify the three threads in our process from within INtime Explorer and INscope we can add their names to the MultiThread process object directory Add the following code to MultiThread c the file that contains main CatalogRtHandle NULL_RTHANDLE strInit hPollThread1 PollThread1 CatalogRtHandle NULL_RTHANDLE strInit hPollThread2 PollThread2 CatalogRtHandle NULL_RTHANDLE strIni
8. MBOX_1 MY_MBOX_2 and MY_MBOX_3 will be used to send data between two processes NTXData exe a Windows process and RTData rta a real time process and to signal between two real time threads Together these two processes comprise a single INtime software application Figure 13 Basic INtime Solution Architecture INtime software application Real time process Real tim Windows process C library Real time application librar NTX library Windows Transport mechanism RT kernel el river This data mailbox example is only one possible solution for sharing data between an INtime real time application and a Windows application other solutions might incorporate shared memory or exchanging semaphores between Windows processes and real time processes Tip To learn more locate the topic Understanding the INtime Software Architecture in the INtime User s Guide page 14 of 46 Copyright 2005 2009 TenAsys Corporation Creating the Real Time Process First we will create RTData rta the real time process that will be launched by NTXData exe The real time process will setup the mailboxes and wait for the Windows process to send a data message through the first mailbox After a message is received the real time process will send data back to the Windows process using the second mailbox The third mailbox will be used for internal communication between real time thr
9. Next gt 7 Click Finish and the Wizard will generate template code Before we proceed with the MFC code we need to modify the project properties to include the NTX library and header files Note These instructions are specific to Visual Studio 2005 but should also work for 2008 1 From the Visual Studio menu select Project NTXData Properties 2 On the property pages dialog choose All Configurations in the Configuration pull down 3 Select General from the C C category of the property list and type C Program Files INtime nt include in the Additional Include Directories field substitute the appropriate directory name if you installed the INtime program files into a different location Copyright 2005 2009 TenAsys Corporation page 19 of 46 Figure 16 Specifying Additional Include Directories NTXData Property Pages WA Le ems Configuration Active Debug Platform Active win32 gt l Configuration Manager m Common Properties a c Program Files INtime nt include J B Configuration Properties Resolve using References General Debug Information Format Program Database for Edit amp Continue ZI Debugging Suppress Startup Banner Yes nologo B C C Warning Level Level 3 W3 cosa Detect 64 bit Portability Issues Yes Wp64 Optimization Treat Warnings As Errors No Pea Use UNICODE Response Files Yes Code Generation Language Precompiled Heade Output Fil
10. PollThread1 c icon to display a list of public symbols Copyright 2005 2009 TenAsys Corporation page 43 of 46 10 Double click on PollThread1 to display that function 11 Set a breakpoint on the for loop by clicking somewhere on that line and pressing F9 similar to setting break points in Visual Studio 12 Press F5 to launch the program 13 You should see a message like thread Ox has hit a breakpoint press Yes to switch to the thread that hit the breakpoint Figure 32 Reaching a Breakpoint in Spider Debug Window Advanced Help ae G Procesa Thread 02308 Running Thread Oxa380 Broken at module poltthread line 44 laip 0x40144b For Help press FL Nu nest Connected to node Local You can inspect local and global variables in the upper window The middle window shows the state of the threads in the process being debugged The bottom window shows the source of that thread Press F10 to single step F11 to step into a call etc page 44 of 46 Copyright 2005 2009 TenAsys Corporation C Sample Applications The following table describes the sample applications that are installed with the INtime system These can be found in the My Documents INtime Projects folder of the user who installed INtime on your system Sample Application Description C and C Samples for Debugger The C program demonstrates several components of the C language available to real time applicati
11. R C_INFO 2a90 F m R EXIT_MBOX 2ae0 ers intime quick start documents ROHSCSNAME 53p8 R LRS 2990 R RSL REF 29c8 0630 MAIN_THREAD m m Delete the selected object Not watching Answering Yes to the deletion warning pop up terminates the real time process The HelloWorld process icon disappears from the INtime Explorer process list Notice that the HelloWorld console window remains on your desktop but the title bar of the console window displays Finished Debugging HelloWorld with Visual Studio INtime includes the ability to debug real time processes directly from within Visual Studio 2005 and Visual Studio 2008 Using the HelloWorld project we just created you can step through the code and perform basic debugging tasks 1 Ifthe INtime kernel is not already running start it using INtime Status Monitor NodeA Start NodeA 2 Start the Visual Studio development environment 3 Open the HelloWorld project 4 Open Pollthread c within the HelloWorld solution 5 Seta breakpoint on the for loop either by double clicking the vertical bar to the left of the source window or by placing the cursor on the line and pressing the F9 key page 12 of 46 Copyright 2005 2009 TenAsys Corporation Figure 12 Setting a Breakpoint PollThread1 c x p Global Scope y PollThread1 S while 1 e a2 RtSleep 1000 s g G ifdef _DEBUG X H printf PollThreadi waking up n y endif gt zl TOD
12. Studio debugger which can be useful in some circumstances When Visual Studio hits a breakpoint it suspends all of the threads in the process The Spider debugger can allow them to continue running during the debugging process The Spider debugger must also be used when debugging legacy INtime applications generated with older tools such as Visual C 6 0 The following steps illustrate how to use the Spider debugger with the HelloWorld sample application 1 Start Spider from the INtime program group using Start All Programs INtime Spider Debugger 2 Select File New Workspace Spider creates a workspace file idw to store information for future debug sessions 3 Inthe New Debug Workspace dialog find the HelloWorld rta file using the browse button 4 Click Open 5 Click on the INtime Node button and select the Local node 6 Press OK Figure 31 Starting a Spider Debug Session r New Debug Workspace lt Workspace Settings Application for Debugging xpps HelloWorld HelloWorld D ebug HelloWorld rta Browse Parameters Advanced Workspace File Location Create workspace and tmp files in same directory as executable C Create workspace and tmp files in specified directory Browse OK Cancel 7 The display now changes to show the workspace on the left hand side of the screen 8 Expand the Source Files icon to display a list of modules 9 Expand the
13. step is to review how to deploy INtime real time applications You have the option of creating real time applications that share the hardware platform with Windows or you can create remote nodes that run the INtime kernel and your real time application on a standalone system without Windows Other areas to explore are deploying INtime on a Windows XP Embedded system Xpe and configuring hardware devices such as network and data acquisition cards for dedicated real time access Please see the documentation for more information Copyright 2005 2009 TenAsys Corporation page 37 of 46 A Configuring the INtime Kernel The INtime Configuration Applet in the Windows Control Panel can be used to modify run time parameters in the INtime kernel and your development environment This appendix describes some of those parameters Figure 27 INtime Control Panel Applet p INtime Configuration Panel ax Select the INtime Component that you would like to configure Ezg 9 9 O amp Development Miscellaneous License Manager preci Tools ap INtime Device Manager Export Settings Import Settings Exit Help Double clicking an icon in the applet window starts the individual configuration application The Export Settings button can be used to save a configuration file from a reference machine that can then be applied to other machines i e for use on a production line using the Import Settings but
14. the system INtime Memory specifies the total amount of physical memory allocated to the INtime real time kernel This is memory that is reserved exclusively for use by the INtime kernel and all real time processes and threads This memory is never paged and is therefore guaranteed to be deterministic Figure 29 Node Management System Wide Tab x INtime Node Management sz E A INtime Neighborhood System Wide S INTIMEDEMO amp NodeA Boot mode INtime memory allocation Shared Non paged Windows pool Dedicated C Exclude memory from Windows Name Value Reserve for INtime Default object directory size 64 Default Vseg Size in MBytes 8 T COMI Disable Bug Check Interception 2 F com2 Hibemate Power Option 2 Max Concurrent NTX Requests 64 I com3 Standby Power Option 2 Time of Day Update fn seconds 300 F coma I LPTR Processor Used by Memory size Relative Start 0 Windows INtime NodeA 2796MB 16MB 00000000 00021000 1 Windows 2 Windows Nes Sead 3 Windows Close Help Settings which affect all nodes on this host are in the System Wide tab Following are some useful details regarding this tab page 40 of 46 Copyright 2005 2009 TenAsys Corporation e Boot Mode specifies how INtime should allocate CPU resources between INtime and Windows shared or dedicated Dedicated means one core of a multi core system is dedicated to an INtime kernel and a
15. 3 started n endif while 1 RtSleep 20 ifdef _DEBUG printf PollThread3 waking up n tendif TODO do what has to be done every 20 milliseconds for i 0 i lt 10 itt putchar 0x0a for x 0 x lt 50 x putchar if dwPollThread1 gt 0 dwPollThread2 gt 0 printf 0u 0u dwPollThread1 dwPollThread2 dwPollThread1 dwPollThread2 0 The for loops in PollThread3 keep the thread alive so we can see pre emption using INScope PollThread1 and PollThread2 are at higher priorities than PollThread3 PollThread3 can only run when PollThread1 and PollThread2 are idle 17 Make sure the build type is set for Debug and compile the project Note Synchronization code to coordinate setting the values of the two global variables in PollThread1 and PollThread2 and reading and resetting those values in PollThread3 has not been included for ease of instruction Copyright 2005 2009 TenAsys Corporation page 31 of 46 Trace the Threads With INScope 1 2 Start INtime Explorer Using INtime Explorer start the MultiThread rta application The application s console window appears and all three threads start running Pollthread3 prints a series of dots in the console window followed by the number of times it was interrupted by the two higher priority threads PollThread1 and PollThread2 Figure 23 MultiThread Application Output BB RT 1 0 Console Ox1DC0 T ax pu 1tilhread sta
16. 32 Windows AP Intel R PRO 1000 MT Dual Port Server A Adaptec AIC 79028 Ultra320 SCSI MSI capable a P Realtek RTL8139 810x Family Fast Etherr 33 Windows f TenAsys Virtual Ethernet Adapter _ Adaptec AIC 79028 Ultra320 SCSI MSI capable a Non Plug and Play Drivers Bk ad epics Intel R PRO 1000 MT Dual Port Network Connection MSI capable H P Ports COM amp LPT A B 55 Windows m R Processors Intel R PRO 1000 MT Dual Port Network Connection 2 MSI capable m Sound video and game controllers 80 Windows E lif lt m Microsoft ACPI Compliant System Se Ready NUM Passing a device to INtime will result in Windows no longer recognizing and loading a device driver for that hardware Your real time applications now have exclusive access to the interrupt and hardware registers of that device This process is needed to insure that Windows drivers and applications will not interfere with your use of the device INtime includes support for MSI devices Message Signaled Interrupts If you have an MSI capable device you can pass it to INtime even if there is a potential legacy interrupt conflict with Windows by right clicking the device and selecting the Pass to INtime non interrupt or MSI menu item page 42 of 46 Copyright 2005 2009 TenAsys Corporation B Debugging With Spider Debugging the HelloWorld Example The Spider debugger has a slightly different mode of operation compared with the Visual
17. 46 Figure 8 Starting INtime Explorer _ INtime Explorer folle sx File View Help i oe Select an INtime node PN INtime Neighborhood OK lt 9 INTIMEDEMO NodeA Cancel For Help press F1 Copyright 2005 2009 TenAsys Corporation 4 When debugging a local INtime node it is useful to turn on the INtex automatic refresh Go to View Options on the INtex menu and select the Refresh tab Check the Enable refresh every box and set the interval for two seconds Figure 9 Configuring INtime Explorer Options INtime Explorer Options eax Types Refresh Memory Accounting Watch Refresh the current window Vl Enable refresh every 2 seconds Font for the right pane Current font Courier Change 5 To load and run HelloWorld click the second button on the INtex toolbar or use the File Load RT app menu 6 Navigate to the debug folder in your HelloWorld project directory and select the real time executable file HelloWorld rta Pushing the Open button loads and starts the real time process on the INtime kernel A console window should now be visible and the message HelloWorld should appear ten times each second inside the console window Figure 10 HelloWorld Console Window E RT VO Console 02070 T kelak lelloWorld a le lloWorld ollThreadi waking up lelloWorld le lloWorld lelloWorld lelloWorld le lloWorld lel
18. 6 _T NTXData MB_ICONERROR MB OKCANCEL LANG ENGLISH exit 0 Get root process handle needed to get RTData process handle if m_RootProcess ntxGetRootRtProcess hNtx NTX_BAD NTXHANDLE MessageBoxEx NULL _T Could not find INtime root process _T NTXData MB _ICONERROR MB OKCANCEL LANG ENGLISH exit 0 Get RTData process handle if m_TestNTXProcess ntxLookupNtxhandle m_RootProcess rt_TestNTXData_process Oxffff NTX_BAD_NTXHANDLE MessageBoxEx NULL _T Could not find RTData process _T NTXData MB ICONERROR MB OKCANCEL LANG ENGLISH exit 0 Now get a handle for each mailbox if m_RtMailbox_1 ntxLookupNtxhandle m_TestNTXProcess rt_my mbx 1 Oxffff NTX_BAD_ NTXHANDLE m_RtMailbox_2 ntxLookupNtxhandle m_TestNTXProcess rt_my mbx 2 Oxffff NTX_BAD NTXHANDLE MessageBoxEx NULL _T Could not find data mailboxes _T NTXData MB _ICONERROR MB OKCANCEL LANG ENGLISH exit 0 Get the user information typed in IDC_DATA and send it to mailbox MY_MBOX_1 GetDlgItemText IDC_DATA send buf 30 ntxSendRtData m_RtMailbox_1 send buf 128 Look for response back from RTData if recv_buf size ntxReceiveRtData m_RtMailbox 2 recv_buf INFINITE NTX_ERROR if ntxGetLastRtError E TIME MessageBoxEx NULL _T Received data failed _T NTXData MB_ICONERROR MB OKCANCEL LANG ENGLISH
19. AD Finally open ClientThread1 c and add the retMessage array to be used for building return messages Remove the lines being used to lookup the process handle since the data mailbox we will reference in this thread was created in this process And modify the parameters accordingly in the line that gets the handle to the MY_MBOX_2 data mailbox void ClientThreadl void RTHANDLE hProcess RTHANDLE hDmbx char retMessage 128 int x 0 int y TODO adjust process and mailbox name TODO remove the next lines if the data mailbox was created in this process hProcess LookupRtHandle hRootProcess DMBX_OWNER WAIT _FOREVER if hProcess BAD_RTHANDLE Fail Cannot find data mailbox process TODO replace hProcess by NULL RTHANDLE if the data mailbox was created in this process di hDmbx LookupRtHandle hProcess DMBX_NAME WAIT_FOREVER hDmbx LookupRtHandle NULL_RTHANDLE MY_MBOX 2 WAIT _FOREVER if hDmbx BAD RTHANDLE Fail Cannot find data mailbox Finally add code in the while loop to wait for the signal indicating that we should send a message to the Windows process We will assemble the message sent by including an incremented count value so each response message is unique while 1 TODO put client code that must be repeated here the RtSleep call is just an example RtSleep 1000 ReceiveRtData hMBOX_ Signal retMessage WAIT _FOREVER
20. MB ii 2684 Close Help Following are some useful details regarding this applet e Kernel Clock Rate specifies the number of microseconds that elapse between system clock interrupts The default is 500 with a range of 100 to 10 000 microseconds e Round Robin Priority Threshold specifies the priority level at which threads will be scheduled to run using a round robin schedule The priority range is 128 to 254 Only threads with identical priorities that are at or below the Round Robin Priority Threshold are scheduled for round robin operation Copyright 2005 2009 TenAsys Corporation page 39 of 46 Note INtime priority levels are numbered from 0 to 254 where zero is the highest priority level in the system and 254 is the lowest Thus a priority level that is at or below the Round Robin Priority Threshold means a priority number equal to or higher than that specified as the Round Robin Priority Threshold Round Robin Time Slice specifies the time allocated for a round robin time slice Values range from 20 to 100 milliseconds in multiples of 10 milliseconds Spin Control Threshold and AutoLoad Spin Control scroll the Kernel Parameters screen down to locate these items specify the behavior of a special function of the INtime kernel that can be used to detect real time threads that may be running without pause In other words it can be used to identify and stop misbehaving real time threads that are locking up
21. O do what has to be done every 1000 milliseconds F Print HelloWorld 10 times e for x 0 x lt 10 x printf HelloWorld n rowser 3 Output Ln 44 Col 12 Ch6 INS 6 Start the debugger by pressing the F5 key or by clicking the start button on the Visual Studio tool bar This will launch the HelloWorld RTA process Note if you are not running on the default configuration you may need to select the target INtime node in the INtime project settings 7 The HelloWorld process will run to the breakpoint Following the break you can step through the code and watch variables change e g x as you step through the loop Debugging an INtime real time thread in this way is virtually identical to debugging a Windows thread Copyright 2005 2009 TenAsys Corporation page 13 of 46 Example 2 Working Together Windows and Realtime The typical INtime solution consists of two executables a standard Windows process that provides access to the Windows user interface database functions and other Windows specific functions and a real time INtime process containing time critical threads Communication between the two parts is managed by the INtime NTX library In this example we will use INtime data mailbox objects to demonstrate how a simple Windows MFC dialog process can exchange data with real time threads running on the INtime kernel Two Processes One Application Three data mailboxes MY
22. Sample MsgBoxDemo This INtime application has both a Windows and a real time portion The Windows portion looks up a mailbox created by the real time portion and waits at the mailbox Whenever a real time thread sends a message to the mailbox the Windows portion displays the received data ina Windows message box Semaphore and shared memory usage are also demonstrated Copyright 2005 2009 TenAsys Corporation page 45 of 46 Sample Application Description PCAP Sample Application Illustrates the use of the PCAP library to filter specific Ethernet packets from the network stack Real time Interrupt Sample This application illustrates the use of real time interrupt system calls using the Transmitter Ready interrupt on COM1 A real time thread takes over COM1 and toggles its Transmitter Ready interrupt COM1 is disabled when the test ends Make sure COM1 is available on your system before running this application When you run the application continuous activity occurs on the real time side preempting Windows for eight 10 second time periods RSL Examples Demonstrates the creation and use of real time Shared Libraries the INtime analog of Windows DLLs Serial Communications Sample This project demonstrates how to use the INtime Serial Communications library TCP Samples UDP Samples USB Keyboard Sample Client Demonstrates TCP communications between a client and a server Cl
23. X_2 waiting his is the message This is a test hread for MY_MBOX_1 waiting his is the message Another test hread for MY_MBOX_1 waiting his is the message Last Test hread for MY_MBOX_1 waiting Gh NTXData Last Test lt Data to Send Msgrevd 2 lt Reply Message OK Cancel 7 Close NTXData by pressing either the OK or Cancel button RTData will continue to run even though you have closed NTXData because we did not include any code to stop RTData when NTXData terminates Use INtime Explorer to shutdown the RTData process by right clicking the RTData process icon in the INtime Explorer window and selecting Delete from the context menu Copyright 2005 2009 TenAsys Corporation page 25 of 46 Example 3 The INscope Performance Analyzer Determinism is a key attribute of real time systems Speed is always a useful attribute to have in any embedded system but the ability to insure the correct timing and sequence of events can be even more important This is a key difference between a real time system and a system that is simply fast The INscope performance analyzer is a special software tool that provides you with precise information regarding the timing and sequence of real time events in a multi threaded application so you can measure the determinism of your real time process INscope traces events while your application runs in real time In this section we will use the INscope to monitor a mu
24. are allocated to Windows only when all of the real time processes are idle The exact set of Windows threads you observe with the INscope tool and the rate at which those threads run depends on the number of CPU cores in your system and how your system has been configured In a single core system INtime and Windows always share cycles on the single core In a multi core system INtime and Windows can share one of the processor cores or INtime can be configured to use one core exclusively for real time threads In either case all remaining CPU cores are allocated to Windows On a single core processor had we not included a sleep in the PollThread3 while 1 loop Windows never would have been able to run and the user interface on your development machine would have frozen in other words the system would appeared to have hung when in fact the real time threads were simply consuming all the available CPU cycles If your development system contains a multi core processor Windows would not have frozen if we had omitted the call to sleep in the PollThread3 while 1 loop because the INtime kernel and its applications will only utilize the resources of one core Thus on a multi core system Windows always has at least one core available page 34 of 46 Copyright 2005 2009 TenAsys Corporation Use the zoom controls on the menu or toolbar to see the trace more clearly and inspect the task switches between threads By depressing
25. d example 3 Select A full featured application from the INtime application wizard dialog and click OK 4 Inthe next dialog add a Thread that operates at a regular interval element 5 Change the Method for waiting parameter from Sleep to Low level Sleep change the Thread Priority from 170 to 160 and change the Number of microseconds to wait from 1000 to 5000 This creates PollThread1 as a thread that will be started on a precise time interval of every five thousand microseconds every 5 milliseconds Copyright 2005 2009 TenAsys Corporation page 27 of 46 6 Click on Thread that operates at a regular interval again Change the Method for waiting parameter from Sleep to Low level Sleep change the Thread Priority from 170 to 165 and leave the Number of microseconds to wait parameter set at 10000 Figure 20 Modifying Thread Parameters i INtime Application Wizard MultiThread Y eax Edit Poling Thread 1 Method for waiting Low level Sleep xl Number of milliseconds to wait 5000 Range 0 655349 f Thread Properties Thread Priority Range 0 254 Stack Size in Kilobytes Min 4 multiple of 4 ox cancel He This sets up PollThread2 as a thread that will be started by the INtime scheduler at a precise time interval of every ten milliseconds 7 Choose Thread that operates at a regular interval a third time However this time specify the following parameters
26. d executed directly on your development machine Your development machine needs to meet the following minimum requirements e Pentium class or better processor e 16MB of free RAM for INtime and your real time applications e 75MB hard disk space for tools examples and documentation e Windows 7 Windows Vista Windows Server 2008 Windows Server 2003 or Windows XP with Service Pack 3 e Visual Studio Visual Studio 2008 2005 INtime applications can run under Windows 7 Windows Vista Windows XP Windows XP Embedded Windows 2003 Server and Windows 2008 Server The examples in this guide focus on the Windows Vista and Windows XP environments Check the installer readme file for any amendments to these requirements Copyright 2005 2009 TenAsys Corporation page 3 of 46 Installation The procedure below describes installation of the INtime development tools and kernel on your development machine Make sure that your development machine meets the requirements listed in the Requirements section above Note Install Visual Studio before installing INtime and insure that you are logged on with Administrator privileges If you install Visual Studio after installing INtime use the INtime Configuration Manager to add the INtime development tools to Visual Studio Insert the INtime CD ROM If AutoRun is enabled a welcome dialog appears If AutoRun has been disabled you can start the installation procedure by double clicking the file
27. e General MFC ActiveX MFC MFC DLL MFC Control Application Smart Device Templ Wina2 plea INtime Projects a Other Languages bie 4 Other Project Types iat A project for creating an application that uses the Microsoft Foundation Class Library Name NTXData Location CA Users INtime Quick Start Documents Visual Studio 2005 Projects INtimeApp X Browse Solution Name NTXData V Create directory for solution page 18 of 46 Copyright 2005 2009 TenAsys Corporation 5 Inthe MFC Application Wizard dialog box select Application Type on the left side of the dialog box 6 Within the Application Type options select Dialog based under Application type and Use MFC in a static library under Use of MFC Ensure that Use Unicode libraries is not selected If you wish to use Unicode libraries you should not use the _T function when passing text into functions requiring LPSTR Figure 15 MFC Application Type Selections MFC Application Wizard NTXData Y A i pacz Application Type Overview Application type Project style Application Type Single document Co Multiple documents MFC standard Dialog based Use of MFC D e Suppo Use HTML dialog Use MFC in a shared DLL User Interface Features Multiple toptevel documents Use MFC in a static library Advanced Features Generated Classes Resource language English United States oa Use Unicode libraries lt Previous
28. eads within the real time process 1 Open Visual Studio and create a real time project called RTData and place it in the INtimeApps directory you created for the HelloWorld example Note It is important that this project be named RTData exactly as shown above The name you specify here is used as a real time process object identifier and will be referenced in later code INtime object names are case sensitive 2 Choose A full featured application from the INtime Application Wizard and click OK leave C unchecked for this example 3 Adda Data mailbox element by selecting Mailbox or Semaphore Thread from the list of available elements The Type of object this thread waits at should be set to Data mailbox in the options dialog 4 Type MY_MBOX_1 for the Catalog the object with this name field 5 Click OK to return to the elements setup dialog 6 Repeat the preceding three steps to add a second data mailbox but this time name it MY MBOX_2 7 From the elements setup dialog add a Client Thread last element in the list 8 Check the Send to data mailbox item upper left and leave all other items unchecked then click OK to return to the elements setup dialog 9 Click Finish followed by OK the wizard will automatically generate real time code templates The code generated by the above steps is only a starting point Modifications are required to turn this project into a running program Data mailbox MY_MBOX_1 wi
29. ee its individual threads 2 Select Suspend from the context menu 3 Note the change in the MultiThread console window The numbers at the end of each line of dots in the console window indicate how many times each of the two high priority threads ran since the last time the low priority thread ran These high priority threads can and will pre empt the low priority thread as shown by the figure above If no number appears after the dots it means there were zero precise timer events detected The numbers vary because the time to run PollThread3 varies in length 4 Suspend PollThread1 and again watch the console window s output 5 Suspend and resume any of the threads including PollThread3 Do the results match your expectation page 36 of 46 Copyright 2005 2009 TenAsys Corporation Next Steps This guide introduces a variety of INtime development tools and features The example applications were designed to help you become familiar with developing INtime real time applications for Windows The next step is to become familiar with the INtime architecture and API See the on line help and User s Manual for more detailed information about these subjects Once you are familiar with the INtime kernel architecture you might want to review the sample real time applications that were installed along with the INtime development package Appendix C includes a list of the sample applications with their descriptions Your final
30. ent is displayed in the Event Info tab at the bottom of the screen Copyright 2005 2009 TenAsys Corporation page 35 of 46 An interesting and useful feature of INtime Explorer is the ability to suspend and resume threads on the fly Figure 26 Intex View of the Multithread App Delete 3 File Edit View Wind Coc handie B ch x Uncatalog 0258 Root process aJ a RT Object information for RT handle 1e68 BQ 0668 Nucleusc e a n H Oed8 Paging Su Thread is suspended Suspended depth 2 i ons aaa Static prio 165 Dynamic prio 165 Ofb0 RTDSM D A Container proc 1d40 Interrupt level None 1950 C Program Except mode 3 Except handler 0280 6 BQ 198 MIN32 CAP Suspend A H 1bd8 SpdrKrnl C 1440 MultiThread ae Sm 1de0 ey Thread state 1250 PollThreai Dump 1dd3 004015b7 SS ESP m 0000 ES Fry 168 PollThrea 0000 cs a 1e80 PollThread3 00000000 EBX P 1e88 R EXIT_MBOX 00000000 EDX E 170 00000000 EDI seit RLS 00794 d0 Flags 1da8 R7HSCSNAME running time 916 455 msecs Wthread 0000 0000 SEH_start EEfEEEEE SEH_trans 000000 X SEH_f lag oo eos Stack size 4 KB Stack used 1 KB E 1d73 00794fc8 0000 0000 00000000 00000000 00000000 00000000 nunun nununn lt m m r For Help press Fl Not watching 1 Right click on the PollThread2 thread icon in the INtime Explorer process tree while MultiThread is running you will have to expand the MultiThread process to s
31. es Browse Information Advanced Command Line g Linker a Manifest Tool Resources i XML Document Genera Browse Information Additional Include Di F fe Build ija Specifies one or more directories to add to the include path use semi colon delimited list if more Th anne thanone I path Similarly in the General section of the Linker category type C Program Files INtime nt lib in the Additional Library Directories field substitute the appropriate directory name if you installed the INtime program files in a different location Under the Input section of the Linker category type ntx lib in the Additional Dependencies field Click OK to save changes and close the property pages dialog page 20 of 46 Copyright 2005 2009 TenAsys Corporation Creating a Graphical User Interface Now we will create the GUI for the Windows process 1 2 3 Remove the TODO Place dialog controls here text object From the Dialog Editor in the Toolbox bar add two Edit Control objects two Static Text objects and one Button object The figure below shows a layout for the controls in NT XData s dialog box Figure 17 NTXData Dialog Box 2 NTXData Ea Sample edit box lt Data to Send re Sample edit box lt Reply Message aD ies Modify the properties of each control as follows p penpan IDC_Edit1 Dogm O pcp p penom Read Only IDC_Static2 Destas
32. es and threads These elements can be created manually but using the INtime Wizard saves time and minimizes errors Select Thread which operates at a regular interval from the list of real time process elements Figure 4 Selecting Process Elements TNtime Application Wizard Helioworid bN E Wa E INtime Application Wizard Select an element to add to the real time process You can add an element type more than once Elements in real time process Mailbox or Semaphore E n z Thread e Interrupt Handling Shared Memory Allocation Client Thread Copyright 2005 2009 TenAsys Corporation page 7 of 46 7 Keep the default settings for the polling thread so the thread will wake up every 1000 milliseconds Click OK to return to the Add Elements screen Figure 5 Specifying Polling Thread Parameters INtime Application Wizard HelloWorld E7 eax Polling Thread 1 Method for waiting Sleep xl Number of milliseconds to wait Range 0 655349 ee Thread Properties Thread Priority Range 0 254 E Stack Size in Kilobytes T Min 4 multiple of 4 4 8 Highlight global in the elements list on the right of the Add Elements dialog and click the Edit element button A dialog box is displayed that can be used to modify real time process parameters The default parameters are fine for this example 9 Click OK and then the F
33. for the thread Method for waiting is Sleep Number of milliseconds to wait is 20 and Thread Priority is 170 Figure 21 Modifying Thread Parameters TNtime Application Wizard MultiThread TT toea Polling Thread 3 Method for waiting Sleep x Number of milliseconds to wait Range 0 655349 20 Thread Properties Thread Priority Range 0 254 Stack Size in Kilobytes Min 4 multiple of 4 page 28 of 46 Copyright 2005 2009 TenAsys Corporation This sets up PollThread3 as a simple delay thread not a precise timer based interval thread like the previous two threads As a simple delay thread PollThread3 will run approximately once every twenty milliseconds The imprecision of PollThread3 is due to the variable amount of processing especially by higher priority threads that can occur between each sleep call 8 Click OK You now have three time based threads 9 Click Finish and double check the summary screen to be sure it lists the following threads and parameters for those threads Figure 22 MultiThread Project Summary INtime Application Wizard MultiThread Pi AeA INtime Application Wizard will create a new skeleton project with the following specifications Generated Features project main in file MultiThread c 3 polling threads File PollThread1 c prio 160 kernel sleep 5000 usec File PollThread2 c prio 165 kernel sleep 10000 usec
34. h of the threads running inside those processes The name of the MultiThread executable file appears along with the three polling threads also listed by name The thread names appear courtesy of the CatalogRtHandle calls we added to main The exact length of time associated with your trace and the order of the threads on the display may differ from the figure above The time it takes PollThread3 to run through the while 1 loop depends on the speed and configuration of your machine remember that all INtime printf statements and other console I O functions go through Windows which will affect some of the timing in this example program Scrolling left to right you will see that PollThread1 and PollThread2 execute at precise five and ten millisecond intervals but the timing of PollThread3 is variable Copyright 2005 2009 TenAsys Corporation page 33 of 46 Note INscope timestamps are derived from your processor s Time Stamp Counter TSC If your system has a variable speed clock such as a laptop with SpeedStep the timing measurements within INscope may be inconsistent Please visit the TenAsys Knowledge Base at www tenasys com for more information regarding this phenomenon When all real time threads are in an idle state the NT_TASK and WIN_EXEC_TSK threads run These threads represent Windows its drivers applications and the transfer of information between the INtime kernel and Windows In shared mode CPU cycles
35. iables defined in the NTXDataDlg h header file are being used here to store those handles Once we have a handle to the data mailboxes we can send the text typed into the IDC_DATA Edit Control to the MY_MBOX_1 data mailbox using ntxSendRtData The last part f the function waits for a return message from RTData from the MY_MBOX_2 data mailbox using ntxReceiveRtData and displays the message returned in the IDC_rxDATA Edit Control 6 Inthe NTXData dialog resource double click on the Send Data button This will create the empty function into which we can add the code 7 Insert the following code inside the empty ICNTXDataDl1g OnBnClickedtxdata function and build the solution when you have finished editing the code Tip Open the electronic PDF version of this guide and use the Adobe Acrobat Text Tool to copy and paste these code fragments directly from the documentation into your Visual Studio project void CNTXDataDlg OnBnClickedtxdata char rt_my_ mbx 1 MY_MBOX_1 char rt_my_ mbx 2 MY_MBOX_2 char rt_TestNTXData_process RTData NTXHANDLE ANtx char send_buf 128 char recv_buf 128 int re cv_buf ss ize Get a handle to the local INtime node ANtx ntxGetLocationByName Local check to see that the INtime kernel is available if ntxGetRtStatus hNtx E OK MessageBoxEx NULL _T RT Machine not present Copyright 2005 2009 TenAsys Corporation page 23 of 4
36. ient and server code is provided for INtime and server code for Windows UDP ping pong sample application Datagrams are exchanged between INtime and Windows Demonstrates how to use the INtime USB subsystem by monitoring a USB keyboard and printing a dump of each keystroke as it occurs Windows STOP Detection Sample Shows how an INtime application can detect either a Windows crash blue screen or a Windows shutdown event and prevent Windows from completing its normal actions until the real time application has had a chance to perform a graceful shutdown page 46 of 46 Copyright 2005 2009 TenAsys Corporation
37. iling INtime source code In a development environment a target installation is typically used to build a system meant to emulate a deployed system Note To run the examples in this guide you must select the Development amp Local Target installation option page 4 of 46 Copyright 2005 2009 TenAsys Corporation Locating Your License Keys Depending on the product you purchased you will be prompted for a combined development license code CMBL or a target license code TRGL These license codes can be found on the license card that came with your software Figure 1 Entering License Codes User Information Enter the following information to personalize your installation Full Name INtime Quick Start Organization fTendsys Corporation n order to install the INtime development kit enter your Development Kit code here from the license card shipped with the product CMBL Code Wise Installation Wizard R If you are installing a network licensed product you will be prompted to enter the address or name of the license server Contact your company s IT personnel for the license server information you will need to complete this licensing step After installation has completed you will be asked to reboot the system If you have been provided a hardware key insert it before rebooting Once the system has rebooted you have the option of configuring the INtime runtime envir
38. imilar to that presented by the Windows Device Manager Right click a device in the list of Windows devices and select Pass to INtime from the context menu to remove this device from Windows and make it available to the real time environment Figure 30 Device Configuration Applet r INtime Device Manager PA lak File Action View Help t Yury E Windows devices z Intel R E7525 E7520 E7320 PCI Express Root Port Al 3596 MSI cap Ha Computer Intel R 82801EB USB Universal Host Controller 24D2 E e Disk drives Intel R 82801EB USB Universal Host Controller 24DE ic E Display adapters 17 Windows A DVD CD ROM dri Realtek AC 97 Audio a Aoa r 18 Windows h a Floppy disk drives Intel R 82801 EB USB Universal Host Controller 24D7 ej Floppy drive controllers 19 Windows Gq IDE ATA ATAPI controllers Intel R 82801EB USB Universal Host Controller 24D4 se INtime RT Interface Devices 20 Windows H Keyboards S Realtek RTL8139 810x Family Fast Ethernet NIC m f Mice and other pointing devices 23 Windows E Intel R 82801EB USB2 Enhanced Host Controller 24DD Monitors oO 24 Windows a EE Network adapters Intel R PRO 1000 MT Dual Port Server Adapter MSI capable ig Intel R PRO 1000 MT Dual Port Networ 25 Windows Intel R PRO 1000 MT Dual Port Networ Intel R PRO 1000 MT Dual Port Server Adapter 2 MSI capable AP Intel R PRO 1000 MT Dual Port Server A
39. inish button 10 The final wizard summary screen appears Press OK on this screen to generate the project files Figure 6 Wizard Summary Screen INtime Application Wizard HelloWorld wy Fa INtime Application Wizard will create a new skeleton project with the following specifications Generated Features project main in file HelloWorld c 1 polling threads File PolThread1 c prio 170 nucleus sleep 1000 msec You use C as your programming language The initial set of modules can be extended as necessary page 8 of 46 Copyright 2005 2009 TenAsys Corporation Visible in the Visual Studio solutions explorer are three C files that were generated be the INtime Application Wizard e HelloWorld c the main function which contains initialization and cleanup code The file name is derived from the project name e Pollthread1 c the polling thread code generated by the add real time elements section of the wizard e Util c contains general purpose utility routines Figure 7 Files Generated by the Wizard Solution Explorer Hello 2 X ca I Solution HelloWorld 1 project gt ermm 5 EA HelloWorld iy Header Files h HelloWorld h 5 Gy Miscellaneous Files Lo ReadMe tt Gi Resource Files By Source Files HelloWorld c ti PollThreadl c Cti util c m 2 1 Open Pollthread1 c 2 Add an integer named x at the start of the polling thread 3 Adda f
40. ll real time applications Ion this mode you may configure multiple INtime kernels on a multi core host system Shared means one core will be shared between INtime and Windows This configuration parameter has no meaning on a single core processor since the CPU is always shared between Windows and INtime when there is only one CPU core e INtime Memory Allocation specifies where INtime should allocate memory resources from In the default case INtime allocates memory from the Windows non paged pool The amount of memory that can be allocated in this way is limited to 128 Mbytes in order that Windows performance is not restricted If more memory is required for INtime then the Exclude memory from Windows option limits the amount of memory that Windows can access at boot time and assigns the rest to INtime This mode may also be used in the case where it is not possible to allocate enough memory because of pool fragmentation e Standby Power Option and Hibernate Power Option specify whether or not INtime should prevent Windows from entering these power management states Allowing Windows to enter these states will cause the INtime kernel to be shutdown Copyright 2005 2009 TenAsys Corporation page 41 of 46 INtime Device Manager Use this applet to allocate hardware device resources especially interrupts for use by an INtime kernel and your real time applications The applet presents a view of all hardware devices in the system s
41. ll receive messages from the Windows process and data mailbox MY_MBOX_2 will send messages to the Windows process The client thread in ClientThread1 c will send messages to the Windows process via MY_MBOX_2 The code in MY_MBOX_2 c will Copyright 2005 2009 TenAsys Corporation page 15 of 46 only be used to create that data mailbox In addition we will manually add a third data mailbox for inter thread communication Note This file and function structure is not necessarily the most efficient or elegant solution it is being used to quickly demonstrate the INtime architecture and the use of INtime wizards to generate template code Make the modifications shown below in bold to RTData c This file contains the real time process main function These modifications add a third data mailbox to coordinate receiving data from MY_MBOX_1 and sending data via MY_MBOX_2 The last lines we add take control of the region object and release that control after thread initialization is complete Tip Open the electronic PDF version of this Guide and use the Adobe Acrobat Text Tool to copy and paste these code fragments directly from the documentation into your Visual Studio project global variables RTHANDLE hRootProcess DWORD dwKtickInUsecs RTHANDLE hMBOX Signal intervening lines removed for brevity create mailbox and semaphore threads hMBOX Signal CreateRtMailbox DATA MAILBOX FIFO QUEUING if hMBOX_Sig
42. loWorld lelloWorld lelloWorld lelloWorld lelloWorld o11Threadi waking up lelloWorld jelloWorld lelloWorld le lloWorld jelloWorld i lelloWorld le lloWorld jelloWorld le lloWorld jelloWorld al Copyright 2005 2009 TenAsys Corporation page 11 of 46 Terminate the HelloWorld process by doing the following 1 Go to the INtime Explorer main window 2 Find the HelloWorld real time process in the left window of INtime Explorer each INtime icon represents one real time process 3 Click the line to select the HelloWorld process 4 Click the red X button in the toolbar to delete the process Figure 11 Terminating the HelloWorld Process r _ INtime Explorer Local lelak 5 File Edit View Window Help ax SALLONI ANE 0258 Root process Delete a RT Object information for RT handle 2948 4 068 Nucleus Communications Service Object sey naa Eome Z Oed8 Paging Subsystem Job Current Threads 2 Current objects 0f38 Shared C Library Job Container proc 0258 Max Priority oe REE s Pool min 76K Pool max unlimite B OfbO RTDSM DSM Subsystem Process Used BAC Fres 2 a 1a10 C Program Files INtime bin spindoctor rta Borrowed 32K A 1ac0 IMIN32 C Program Files INtime bin iwin32 rta ascidian ozis IOo Gearien venele i lt Q 1d78 RTintex C Program Files INtime bin rtintex rta Object directory has 32 entries 5 in use ram Files INtime bin SpiderRt rta
43. lti threaded real time process How Fast is Deterministic The deterministic nature of a real time system forces a unique set of requirements upon software applications A simple definition of a real time system is one in which the time required to respond to an event is just as important as the logical correctness of that response Hard real time systems require the highest degree of determinism and performance Typically their worst case event response requirements are measured in microseconds Bounded response to events is the key to defining a hard real time system Real time systems require determinism to insure predictable behavior of the system Without determinism a system cannot be called real time and without bounded determinism a system cannot be classified as hard real time Figure 19 Comparison of Real time Systems hard real time event handling soft real time event handling The specific degree of determinism required is a function of the frequency of the real time events size of the time interval between events and the effect of delays on the dynamic characteristics of that system That is how often do events occur and how quick and repeatable must the system be in response to those events Being able to place a finite and acceptable bound on the value of these numbers page 26 of 46 Copyright 2005 2009 TenAsys Corporation is what distinguishes a hard real time system from soft real time systems Fast Does No
44. nal BAD_RTHANDLE Fail Cannot create signaling data mailbox Do not forget to include a global declaration for the region object hMBOX Signal at the end of RTData h extern RTHANDLE hRootProcess extern DWORD dwkKtickInUsecs extern RTHANDLE hMBOX Signal Open MY_MBOX_1 c The Wizard has generated code to create initialize and retrieve data from the mailbox We are adding code to print received data to a console window and signal to ClientThread1 that a reply message can be sent TODO operate on byMmessage and dwActual Print the message received from the mail box printf This is the message s n byMessage Indicate that the message was received SendRtData hMBOX_Signal go 3 Next open MY_MBOX_2 c and remove the lines in the while loop that wait for data to be received from the data mailbox in the code page 16 of 46 Copyright 2005 2009 TenAsys Corporation fragment below they have been commented out In this example we will only use this thread to initialize the data mailbox The Windows process will receive from this data mailbox and the real time process will send through this data mailbox Add a line at the end of the while loop to suspend the thread wActual ReceiveRtData hMY_MBOX_2 byMessage WAIT_FOREVER if wActual 0 Fail Receive from data mailbox MY MBOX 2 failed TODO operate on byMmessage and dwActual SuspendRtThread GetRtThreadHandles THIS THRE
45. named Jaunch exe in the root directory of the INtime CD ROM The installation procedure is similar to that of most standard Windows applications You will be asked to accept the INtime software license agreement and to supply one or more registration keys to complete the installation procedure A default destination folder of ProgramFiles INtime typically C Program Files INtime is suggested by the installation program for the INtime development tools and sample files Make note of this directory so you can locate it again if you wish to inspect header files and other INtime system files Sample projects will be installed in the user directory of the user who installed INtime Configuration files will be installed in the AllUsersProfile Application Data TenAsys INtime directory On Windows versions after Windows XP the path is AllUsersProfile TenAsys INtime Two basic install options are provided target and development The development installation referred to as Development amp Local Target on the Select Installation Type dialog box is a complete installation which includes tools documentation examples and the INtime kernel everything you need to create and run INtime applications on your development workstation The target installation referred to as Local Target only installs only those files needed to run INtime applications on a finished real time Windows system A target installation cannot be used for editing and comp
46. onment and services For the purposes of this document the default configuration will suffice If you cannot locate your license card please contact TenAsys directly Contact information is available at www tenasys com Copyright 2005 2009 TenAsys Corporation page 5 of 46 Example 14 The INtime Application Wizard HelloWorld This exercise introduces the INtime Application Wizard used to create a simple real time process The INtime Application Wizard assists by adding template code for elements like semaphores threads shared memory allocation interrupt handling and client threads to a new project The INtime Application Wizard will be used to create the foundation for the HelloWorld example project In the HelloWorld project you will create a thread that executes in an infinite loop The thread will sleep approximately 1000 milliseconds and print the phrase HelloWorld ten times in an INtime console window per each loop iteration Note For the sake of brevity only screenshots of significant value are shown within the tutorials of this guide Using the INtime Application Wizard Create a directory on your development machine called INtimeApps to store the examples from this Guide 1 Start Visual Studio N Select File New Project to create a new Visual Studio project Ae Under INtime Projects select INtime Application Wizard Enter a project name of HelloWorld and set the location path
47. ons as well as basic classes dynamic instantiation operator overloading and so on It also shows the libraries and startup modules needed Exception Handling Sample Includes a Windows and a real time portion The Windows portion allows the user to set up timing parameters that control how often a real time thread will cause a hardware fault The application demonstrates how another real time thread can detect and log the failure delete the offending thread and recreate it without affecting Windows or other real time processes Floating Point Exception Handling Demonstrates floating point exception handling Graphical Jitter Sample Measures the minimum maximum and average times between low level ticks using an alarm event handler precise timer This application is comprised of both real time and Windows executables and illustrates use of the NTX API Global Objects Sample Illustrates various aspects of global objects and node management High Performance Ethernet Sample Illustrates the use of the High Performance Ethernet drivers included with INtime INtime API Sample Exercises most INtime software system calls INtimeDotNet Samples Sample applications showing the use of the INtimeDotNet assembly for use in Windows apps that use the CLR to communicate to the RT side Network Datagrams Sample Examples of how to send unicast multicast and broadcast datagrams NTX
48. or loop and printf statements after the TODO comment The resulting code should look like the following additions are shown in bold void PollThread1 void int x ifdef DEBUG printf PollThreadl started n endif while 1 RtSleep 1000 ifdef DEBUG printf PollThreadl waking up n endif TODO do what has to be done every 1000 milliseconds Print HelloWorld 10 times for x 0 x lt 10 x printf HelloWorld n Make sure the build type is set to Debug Build Configuration Manager and build the solution Build Build Solution The HelloWorld program should compile and link without errors Copyright 2005 2009 TenAsys Corporation page 9 of 46 Introducing the INtime Explorer Double clicking an RTA file when the INtime kernel is running loads and runs the real time application RTA we will use the INtime Explorer aka INtex to load and run the HelloWorld example that was just built INtex displays the real time objects present on an INtime node an INtime real time kernel 1 Load the INtime kernel if it is not already running from the INtime Status Monitor in the Windows system tray select NodeA Start NodeA Note that NodeA is the default name of the INtime kernel you can create other nodes with different names 2 Start INtime Explorer using its shortcut in the INtime program group 3 Select the NodeA node from the dialog box and press OK page 10 of
49. rted lultilhread finished initialization ollThreadi started PollThread2 started PollThread3 started Start INScope using its shortcut in the INtime programs group Start INtime INScope The INScope Trace Control dialog box appears click on Nodes and select the Local node While MultiThread rta is running click Start Trace page 32 of 46 Copyright 2005 2009 TenAsys Corporation 6 Inafew moments the View Trace button will become visible indicating that the trace buffer is full Click the View Trace button and the event trace for MultiThread is displayed in the INscope upper right pane Figure 24 INscope Event Trace r INscope INScopei ay Erima File View Zoom Cursors Bookmarks Threads Window Help ax D SH aNg TELE SA A ins zc lt MaBr Ams 5ms 6ms 7ms 8ms E 0258 Root Process fos nna aamngnmn ta antag a en nn ana en ann nna i ott at an neg tn gag tn ang a e230 WIN EXEC TSK meme meee m stt se nme ae ner cat a re ee ee ete 18a8 1370 1508 L 1960 E MultiThread rta 2740 PollThread3 2710 PollThreadi L_ 2728 PollThread2 Other 4ms 5ms 6ms 7ms 8ms f m rie m r EA i Event Info Obiect Info Cursor Info Run Segment Info Trace Info For Help press F1 NUM Last Mouse The left pane lists the INtime processes that were running on the kernel when the trace was started and eac
50. s sivas cnnne sevceune sne nen TEA AA AORE 21 Running the Complete Solution ieee cece eeeeneeeeeenees 25 Example 3 The INscope Performance AnalyZet s sssssse 26 How Fast is Deterministic ccccsccassssccsecedeciesstecterscevesesssabeceascevasens 26 Fast Does Not Equal Deterministic s sessessssserrsrerresrerresssrrerseeee 27 A Multi threaded Example cee cecceccesseeeeeeseeeeesseseeennaes 27 Trace the Threads With INScope ssssssssesrrsserrsssererserrrsserereseees 32 Next Ste PS we zscccs sess czetsvesscdecsseteasecsscaissseeseiessnesdoessezeisusievsesseievscsteastiianetss 37 A Configuring the INtime Kernel 2 csscsscssessessssssseesseeseseeees 38 Node Management risers eena a aN EA EAE 39 INtime Device Manager icccssssseenncccscvessssssenesesvosssnsssrensscsvesses 42 B Debugging With Spider cssccsscsssssssssssessessssssessesssessneeeeess 43 Debugging the HelloWorld Example eeeceeeeeneeeeeaes 43 C Sample Applications cccccsseeseessesseseeeseeeeeeseeeseeeesseeeseseneesaeeaees 45 Copyright 2005 2009 TenAsys Corporation page 1 of 46 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29
51. scriptions Copyright 2005 2009 TenAsys Corporation All Rights Reserved No part of this guide may be copied duplicated reprinted and stored in a retrieval system by any means mechanical or electronic without the written permission of the copyright owner September 2009 Edition INtime 4 0 Quick Start Guide Contents Welcome Before You BeSin cssccsscssscsssssessessesssessesssessessnessnens 3 Notational Conventions siccsccccisssccssssvscsessssocssosarnsacossnssassvensasvoventas 3 ROEQUITCIMONUS cnccssccceevensestvesevesvesnnestiasdeesseveveneseseveosturierancevesosssesine 3 Installation sscsecssssesesesssesesessenseesessensansesessesaesessensaneeseeneatensetseaneneesees 4 Locating Your License KeyS cissie nan 5 Example 1 The INtime Application Wizard HelloWorld 6 Using the INtime Application Wizard cece eeeeeeeeeees 6 Introducing the INtime Explorer 0 0 cece cece eeeenteeeeennees 10 Debugging HelloWorld with Visual Studio eee eee 12 Example 2 Working Together Windows and Real time 14 Two Processes One Application ccc eeceseeeeeeneeeeeaes 14 Creating the Real Time Process esssssessesresserrrserresrerreseereerseees 15 Creating the Windows Process ssesssssesserrrsseresserrerrerrerserereseees 18 Create the Project and Setup the Environment 008 18 Creating a Graphical User Interface cece cecee cece eens 21 Editthe GO de i
52. t Equal Deterministic Faster processors memory and peripherals improve the aggregate performance of a system but they generally do not directly affect the bounded determinism of a system The worst case response time to an event may not be significantly changed by using a faster processor increased speed can decrease the average jitter the spread and intensity of the variations in response to an event but it will not eliminate the worst case jitter Improving the performance or speed of a real time system is useful More performance allows one to increase the complexity of the algorithms that can be implemented in a given period of time i e within a sample interval or cycle Therefore the quality of the control and data acquisition system that one can implement in software is improved by using a faster system However bounded determinism is still needed to insure that a stable and accurate system regardless of the performance level can be deployed A Multithreaded Example This example application will contain three alarm threads or fixed interval timing events Two will be set for the same priority level and the third will be set one priority level higher Tip Complete the HelloWorld example before performing this example to familiarize yourself with the INtime development system 1 Open Visual Studio 2 Create an INtime project called MultiThread and place it in the INtimeApps directory you created for the HelloWorl
53. t hPollThread3 PollThread3 indicate that initialization has finished strInit state INIT DONE 15 PollThread1 c and PollThread2 c have nearly identical code Make the following modifications to each of these files and be sure the variable specified after the TODO line matches the thread number void PollThreadl1 void ifdef DEBUG printf PollThreadl started n endif while 1 if knWaitForRtAlarmEvent hAlarmPollThread1 KN_WAIT_FOREVER Fail Cannot wait for alarm PollThread1 ifdef _DEBUG printf PollThread1 waking up n endif TODO do what has to be done every 5000 microseconds dwPollThread1 Note The code immediately following the while 1 statement will differ for each thread as a function of the time interval and the sleep method specified when you used the wizard to generate the template code Also unlike the previous examples in this example remove or comment out the ifdef DEBUG lines of code inside the while 1 statement we do not want the printf statements to interfere with the output and timing of these threads 16 PollThread3 c contains more code than the prior two Make the following modifications to this file again make sure that the number specified in the putchar line matches the thread number void PollThread3 void int i 0 int x 0 page 30 of 46 Copyright 2005 2009 TenAsys Corporation ifdef DEBUG printf PollThread
54. tenAsys I c K Sa ee Am Rema INtime 4 0 Quick Start Guide September 2009 TenAsys Corporation 1400 NW Compton Drive 301 Beaverton OR 97006 USA 1 503 748 4720 fax 1 503 748 4730 info tenasys com www tenasys com Copyright 2005 2009 TenAsys Corporation 090925 TENASYS INTIME and IRMX are registered trademarks of TenAsys Corporation Other trademarks and brand names are the property of their respective owners This document is protected by US and international copyright laws TENASYS INTIME and IRMX are registered trademarks of TenAsys Corporation Other companies products and brands mentioned herein may be trademarks of other owners Information regarding products other than those from TenAsys has been compiled from available manufacturers material TenAsys cannot be held responsible for inaccuracies in such material TenAsys makes no warranty for the correctness or for the use of this information and assumes no liability for direct or indirect damages of any kind arising from the information contained herewith technical interpretation or technical explanations for typographical or printing errors or for any subsequent changes in this article TenAsys reserves the right to make changes to specifications and product descriptions at any time without notice and without incurring any liability Contact your local TenAsys sales office or distributor to obtain the latest specifications and product de
55. the Z button on the toolbar and tracing a rectangular region with the mouse you can zoom to a specific segment In the screenshot below we can see all three threads running in a zoomed view Figure 25 Zoomed Inscope Trace INscope INScope2 Ey rima File View Zoom Cursors Bookmarks Threads Window Help 8 x D S H wl amp iA A Mus wc lt 0 M4 gt gt Dl 32650us 32660us 32670us 32680us 32690us E 0258 Root Process 1950 NT_TASK 0e30 WIN_EXEC TSK em 18d8 1778 1670 L 1960 G MultiThread rta 2740 PollThread3 C ce L_ 2728 PollThread2 AA Sx ot Gi spindoctor rta AA 1bf8 Other 32650us 32660us 32670us 32680us 32690us Z t xli ol g Event Info Object Info Cursor Info Run Segment Info Trace Info For Help press FL NUM Last Mouse Let your mouse hover over one of the arrows on a C event and you will see it is the putchar function call made inside the PollThread3 while 1 loop An up arrow is a return from a prior putchar call and the down arrow is a new call into putchar Since a putchar call results in a transfer of data to the Windows side of the system it forces PollThread3 into an idle state Hovering over the A events shows similar information for PollThread1 and PollThread2 Right click on an event arrow and select the Display Details item that appears data regarding that ev
56. to the INtimeApps directory you created above Figure 2 Starting the INtime Application Wizard New Project Lo td Broject types Templates osa Visual C Visual Studio installed templates ATL tz CLR General Application Shared Static Library MFC Wizard Libra Wizard Smart Device ae Win32 My Tomales INtime Projects i H Other Languages i Search amp Other Project T Other Project Types Fear Create an INtime Application Skeleton Name HelloWorld Location C Users INtime Quick Start Documents Visual Studio 2005 Projects INtimeApp gt Browse Solution Name HelloWorld 7 Create directory for solution page 6 of 46 Copyright 2005 2009 TenAsys Corporation 5 Select A full featured application in the wizard dialog box and leave the C box unchecked We are not using the INtime wizard s Hello World application because the features of our sample project are going to be more interesting Click OK to continue Figure 3 Creating a New INtime Project INtime Application Wizard HelloWorld mT 7s ia i VEs tentsys ie What kind of INtime application do you want to create An empty project C A Hello World application C A minimal Iwin32 application A full featured application Generate C source using INtime classes where applicable 6 The next screen is used to add elements to your real time process such as mailboxes semaphor
57. ton The Export Settings button will export a single INtime configuration file for all applets that have been selected Tip Hold the Ctrl key down while clicking with the left mouse button to highlight multiple configuration applets before exporting your INtime configuration file page 38 of 46 Copyright 2005 2009 TenAsys Corporation Node Management Use this configuration applet to select the best kernel timer rate for your INtime application In the MultiThread example the fastest timer or alarm event we could specify was 500 microseconds because that is the default rate at which the INtime kernel is configured Changing the Kernel Clock Rate to 100 microseconds would have allowed us to create threads that wake with 100 microsecond resolution Figure 28 Node Management Kernel Tab z INtime Node Management E A INtime Neighborhood S S INTIMEDEMO System Wide Kemel Network Auto Load Advanced Legacy network E Node Node NodeA IT Start the INtime kemel automatically Select core Automatic Kemel Parameters 10 Name Value Debugger COM Por None gt Autoload Spin Control Enabled 9600 GDT Slots 8190 aE a Kemel Clock Rate in us 500 OS Extensions 0 Round Robin Priority Threshold 140 Round Robin Time Slice n ms 50 Spin Control Threshold amp 10ms 300 New Node INtime Memory Start Local Reserved for INtime 16 MB a ae 1 0 0 0 0 0 1 2

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