RM-EPS1C17 Salvo Compiler Reference Manual – Seiko Epson
Contents
1. Reference Manual To do so in the GNU17 IDE select Project Properties GNU17 Linker Script Settings Section name bss and click on Edit Set the Virtual map address to 4 and click on OK Then select Project Clean then Project Build All gt Properties for tutSpro type filter text GNU17 Linker Script Settings Info Builders ms u E TE a ihn REEDE S lia C C Documentation VMA LMA Section name Labels C C File Types bss __START_bss __END_bss C C Include Paths amp Symbols C C Indexer C C Make Project aJ Edit Section E3 kto Configure a Section C C Project Paths i r c 4 GNU17 Build Options Set this Section s properties to be included in the Linker Script File amp GNU17 GDB Commands SP Gnu17 General GNU17 Linker Script Settings Section name Gnu17 Parameter Settings Project References Refactoring History LMA VMA Load map address Virtual map address W File Attributes Object files are automatically allocated to this section Unallocated files Allocated files boot o ctxsw o salvobinsem o Apply salvocyclic o salvodelay o salvoevent o salyohook_idle o salvohook_interrupt_EPS 1 boot salvoportepsici reguiar ah cholate WN GNUL 7 xgece BC EPSON GNUL7 c sakana pro dump Wa tut 1 ctxsw salvobinsem salvocyclic sal salvoinit2 0 C17_GIE salvohoo salvoqins salvosched salvotask salvd pune W2. referenc tut5 o In function main Put Ses 1316 CutS ci13 6 undefined referenc to to undefined referenc CO CO OSeligQP OSeligQP OScTchP OScTcbP OSdelayQP OSdelayQP oSlostTrceks OSl ostTicks OSecbArea OSecbArea Listing 8 Iderr contents after failing to include salvomem c GNU17 IDE for Seiko Epson s C Compiler Package for S1C17 Family In this example salvomem c was not included in the project and therefore the linker could not find any of the Salvo objects that are referenced throughout the Salvo code Adding salvomem c to the project resulted in a successful build Undefined References to Salvo Functions When building a Salvo application failure to include a required Salvo library Salvo Lite LE Pro library builds or a Salvo source file Salvo Pro source code builds in your project will lead to undefined references to Salvo services in the 1derr file sal Sal Sal sal sal sal sal sal sal sal to OSDelDelayQ to OSDelDelayQ CO TO tO to to OSDelPrioQ OSDelPrioQ OSDelPrioQ OSDelPrioQ OSDelPrioQ undefined references voevent o In function OSWaitEvent voevent c 1325 undefined referenc voevent c 1325 undefined referenc vosched o In function OSSched vosched c 369 undefined referenc vosched c 369 undefined referenc vosched c 370 undefined referenc vosched c 370 undefined refe
3. GNUL7 as mc17_ext tutSpro dump IU17 rm f tutSpro map 1U17 1d Map tutSpro map N T tut5y em o salvocyclic dle o salvohook_interrupt_EPS51C17_q isalvoportepsici7 o salvotask o salvotimer o tut5 o INU17 Lib 24bit 1 W17 lib 24bit libc a Figure 2 Setting the bss section to begin at RAM address 0x000004 GNU17 IDE for Seiko Epson s C Compiler Package for S1C17 Family You can verify the results by opening the project s map file and finding the value of the bss section should be 0x00000004 Project Configuration Include Paths 12 At a minimum every Salvo project requires include paths to e The project s salvocfg h configuration file e salvo h and other Salvo header files In the GNU17 IDE these are configured under the GNU17 Build Options properties of your project RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17 The RTOS that runs in tiny places Reference Manual Debugging Compiler Errors To add an include path select Project Properties GNU17 Build Options Build Options Directories and click on the Add icon Add include paths to both the directory that holds your project s unique salvocfg h and also to Salvo s header file directory usually c Pumpkin Salvo Inc Ey Properties for tutSpro type filter text GNU17 Build Options Info These build option settings will result in tutSpro_gnu17IDE mak Builders C C Documentation C C File T
4. a dummy function as shown below void OSIdlingHook void Listing 4 Default Salvo idling hook for Seiko Epson s C Compiler Package for S1C17 Family Users can replace it e g with a directive to put the S1C17 to sleep by building their own version with their application Interrupt The default interrupt hooks in salvohook_interrupt c are shown below 8 RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17 Sm dV 0 Reference Manual void OSDisableHook void asm dis void OSEnableHook void asm ei Listing 5 Default Salvo interrupt hooks for Seiko Epson s C Compiler Package for S1C17 Family These functions clear the 1 bit i e disable global interrupts in the PSR across Salvo s critical section The default interrupt hooks are suitable for any application that calls only OSTimer from an ISR Note The S1C17 architecture and instruction set do not provide a direct means of reading or writing the PSR s I global interrupt enable bit The astute reader will recognize that the default hooks will cause interrupts to be re enabled inside an ISR i e before exiting from the ISR via a reti instruction when a Salvo API service that controls interrupts e g OSSignalBinSem is called from the foreground ISR level This may or may not cause problems in your application Two possible solutions are presented below The most expedient solution is to create your own in
5. service calls will have no interrupt latency due to Salvo Tip You can write your application s interrupt hooks to disable and enable as many peripheral interrupt enable bits as required by adding additional code to OSDisableHook and OSEnableHook An alternative and lower performance approach is to augment the default interrupt hooks so that interrupts are only re enabled in OSEnableHook When OSEnableHook is called from the background i e non ISR level This would require additional user code at the entry and exit of each ISR that calls a Salvo service Said user code would set a flag at the start of the ISR and clear the flag at the end of the ISR oSEnableHook would be configured to read this flag and would only re enable global interrupts when this flag was found to be cleared The net effect would be that when a Salvo service was called from an ISR it would not re enable interrupts at the end of its critical section s Warning Not disabling all source of interrupts that call Salvo services during critical sections will cause the Salvo application to fail The default watchdog hook in salvohook_wdt c is a dummy function is shown below RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17 The RTOS that runs in tiny places Compiler Issues Reference Manual void OSClrWDTHook void r Listing 7 Default Salvo watchdog hook for Seiko Epson s C Compiler Package for S1C
6. 14 When building a Salvo application failure to include Salvo s salvomem c in your project will lead to a slew of undefined references to Salvo objects in the 1derr file salvobinsem o In function OSSignalBinSem salvobinsem c 258 salvobinsem c 258 salvobinsem c 258 salvobinsem c 258 salvodelay o In function undefined reference to undefined reference to OSsigQoutP OSsigQoutP OSsigQinP OSsigQinP undefined reference to undefined reference to OSDelay RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S10 17 The RTOS that runs in tiny places Reference Manual sal sal sal sal sal to sal sal sal sal sal sal sal sal sal vodel vodel vodel vodel vodel OScT voini voini voini voini voini voini voini voini voini Gr OCF lt i 1G CPG sehr che Gt ay ay ay ay ay cbP GO OGT O O O aS SELLS 21633 L635 sal fol In 248 248 249 249 53 253 OTS EOTS undefin nc undefin nc undefin nc undefin vodelay c low function undefined undefined undefined nec Z15 to to to TO OScTcbP OScTcbhP OStimerTicks OStimerTicks undefined references mor OSInit reference reference referenc undefined referenc undefined undefined undefined reference reference referenc undefined
7. 17 Family Users can replace it e g with a directive to put clear the S1C17 s watchdog timer by building their own version with their application Clearing the watchdog timer from within OSC1rWDTHook will clear the watchdog timer every time Salvo s scheduler osschea is called Warning Salvo s clearing of the watchdog timer via OSC1rWDTHook is only a basic means of using a watchdog timer and is not a robust solution for production It is however a reasonable starting point for developing a robust watchdog timer scheme Incompatible Optimizations There are no known incompatibilities between Seiko Epson s C Compiler Package for S1C17 Family s optimizations e g 01 and Salvo The context switcher saves and restores registers R4 through R7 where necessary Special Considerations Objects at RAM Address 0 The S1C17 s memory map normally includes RAM at address 0 Locating any of Salvo s global objects at O is likely to cause problems when Salvo references that object due to null pointer references Therefore you should adjust the allowable RAM memory range to start at 4 instead of 0 This will guarantee that no object is placed at RAM memory address 0 Warning The start address for the bss RAM objects section must be a multiple of 4 Odd addresses or multiples of 2 and not 4 will cause runtime errors RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S10 17 11 The RTOS that runs in tiny places
8. ON GNU1 7 as mpointer16 o tutS_brd o tutS_brd exto C EPSON GNU17 xgec BC EPSON GNU17 Wa mpointer16 c xassembler with cpp wa gstabs o salvoportepsici 7 small o salvoportepsici7 small s C EPSON GNU17 xgec BC EPSON GNU17 mpointer16 mshort offset gstabs 3 01 ICc EPSON GNU17 include ID Pumpkin Salvo Example EPSON 1C17 S5UC17701T1100 Tut TutS Eclipse SSU1C1 7001C Pro tutSpro ID Pumpkin Salvo Example EPSON S1017 S5UC17701T1100 Tut TutS Eclipse_SSU1C1 T001C Pro IC Pumpkin Salvo Ine fno builtin o salvohook_idle ext0 salvohook_idle c c EPS0N GNU17 as mpointer16 o salvohook_idle o salvohook_idle extd C EPSON GNU17 1d Map tutSpro map N T tutSpro_gnul17IDE lds 0 tut5pro elf boot o salvobinsem o salvocyclic o salvodelay o salvoevent o salvohook_interrupt_EPS1C17_GIE o salvohook_wdt o salvoinit o salvoinitz o isalvomem o salvoqins o salvosched o salvotask o salvotimer o tut5S o JtutS_brd o salvoportepsic17 small o salvohook_idle o C EPSON GNU17 Lib 1 6bit libstdio a C EPSON GNU17 lib 16bit libc a C EPSON GNU17 lib 16bit libgec a C EPSON GNU17 lib 16bit libe a 2 gt lderr make tutSpro elf Error 1 Figure 4 Example link time error GNU17 IDE for Seiko Epson s C Compiler Package for S1C17 Family The best way to resolve these sorts of errors is to view the project s lderr file this will rapidly point you in the direction of a solution Undefined References to Salvo Objects
9. Reference Manual 750 Naples Street San Francisco CA 94112 415 584 6360 htto www pumpkininc com Salvo Compiler Reference Manual Seiko Epson S1C17 J Salvo The RTOS that runs in tiny places Copyright 2008 Pumpkin Inc last updated on Feb 29 2008 All trademarks mentioned herein are properties of their respective companies The RTOS that runs in tiny places Introduction Reference Manual This manual is intended for Salvo 4 users who are targeting Seiko Epson S1C17xxx 16 bit microcontrollers with Seiko Epson s http www epson co jp e SSU1C17001C C compiler v1 1 and later hereafter referred to as Seiko Epson s C Compiler Package for S1C17 Family Note Seiko Epson s C Compiler Package for S1C17 Family is normally used with the GNU17 IDE running under Eclipse All of this software is available directly from Seiko Epson Related Documents Example Projects Features The following Salvo documents should be used in conjunction with this manual when building Salvo applications with Seiko Epson s C Compiler Package for S1C17 Family e Salvo User Manual Example Salvo projects for use with Seiko Epson s C Compiler Package for S1C17 Family and the ImageCraft IDE can be found in the Pumpkin Salvo Example S1C17 directories of every Salvo for S1C17 Family distribution Tip These example projects can be easily modified for any device in the S1C17 family Table 1 illus
10. can select between two sets of libraries standard libraries and standard libraries incorporating source level debugging information The latter have been built with Seiko Epson s C Compiler Package for S1C17 Family s gstabs RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson 1017 The RTOS that runs in tiny places Configuration Build Settings Available Libraries RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17 Reference Manual command line option This adds _ source level debugging information to the libraries making them ideal for source level debugging and stepping in the GNU17 IDE To use these libraries simply select one that includes the debugging information e g libsalvoliepslcl7rit a instead of one without e g libsalvoliepsicl7r t a in your GNU17 project 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 Seiko Epson s C Compiler Package for S1C17 Family 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 PSR s bit can be overridden Idling hook Interru
11. erence Manual Linker Errors correctly and your salvocfg h configuration file is correct for the type of build Salvo Pro source code build or Salvo Lite LE Pro library build you are doing In the GNU17 IDE link time errors are reported rather cryptically as illustrated below EJ GNU17 salvocfg h Eclipse for GNU17 V1 1 File Edit Refactor Navigate Search Project Run Window MaG fo wu Mm i Gy B E G iQ i Ov iw eer Fig cic z SOs leg define SALVOCFG_H_ Be tutspr E A Includes H S settings H E workspace R salvocfg h S S boot s salvobinsem c H salvocyclic c salvodelay c E El salvoevent c salvohook_idle c A salvohook_interrupt_EPS1 B salvoinit c salvoinit2 c A salvomem c D DE a B salvohook_wdt c Hee we amp m S salvoporteps1c17 small s E salvogins c salvosched c A salvotask c A salvotimer c tutS_brd c L tutSpro_gnut7IDE mak l 0 tuts c EO auy R salvocfg h amp e Outline Make 2 ifndef SALVOCFG_H_ ad Al E7 tutSpro lt j a Problems Properties Build tutSpro ID Pumpkin Salvo Example EPSON S1C17 SS5UCLi7701T1100 Tut Tuts Eclipse S5Suici po01 Pro tutSpro ID Pumpkin Salvo Examp1le EPSON 1C17 S5UC17701T1100 Tut TutS Eclipse SSU1C1 7001C Pro IC Pumpkin Salvo Inc fno builtin o tutS_brd extO tutS_brd c C EPS
12. l interrupt latency for interrupts of interest In a properly configured application only those interrupts that call Salvo services will by necessity 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 Taa aalo Reference Manual Memory Usage Example Application Program Memory Data Memory Usage Usage SICI T A Veule 5 Lice 22 2 SICI Wee weit Sle 22 2 SiLC17 Vewke prO SMALL memory model 1692 114 SICIL Ae Vente Sisiee REGULAR memory model 2056 166 Table 4 ROM and RAM requirements for Salvo applications built with Seiko Epson s C Compiler Package for S1C17 Family User Hooks Overriding Default Hooks 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 Idling The default idling hook in salvohook_idle c is
13. n shown in Figure 1 RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17 3 The RTOS that runs in tiny places Type Target Memory Model Option Reference Manual libsalvofepsic17s a a Salvo library configuration multitasking with delays and events multitasking with delays type multitasking with events f freeware multitasking only standard multitasking with delays and events Seiko Epson tasks can wait with timeo S1C17 C Compiler option no option target i library includes debugging information sic17 allS1C17 family devices t3 00M memory model m MIDDLE r REGULAR s SMALL Figure 1 Salvo Library Nomenclature Seiko Epson s C Compiler Package for S1C17 Family Salvo Lite distributions contain freeware libraries All other Salvo distributions contain standard libraries See the Libraries chapter of the Sa vo User Manual for more information on library types Each library works on all members of the 1C17 family Seiko Epson s C Compiler Package for S1C17 Family supports three distinct memory models SMALL MIDDLE and REGULAR When doing a library build the Salvo library s memory model must match that of the project Note A project s salvocfg h configuration file does not affect the memory model in use Therefore when building applications with Salvo libraries you must ensure that the Salvo library used corresponds to the project s memory model Salvo Pro users
14. osition All of Salvo s non target specific header files reside in this directory Target specific header files reside in subdirectories e g in EPS1C17 RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17
15. pt hook dummy Watchaog hook can be overridden System tick counter available 32 bits Task priorities enabled Table 2 Build settings and overrides for Salvo libraries for Seiko Epson s C Compiler Package for S1C17 Family Note Salvo Lite libraries have precompiled limits for 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 There are a total of 33 Salvo libraries for Seiko Epson s C Compiler Package for S1C17 Family Each Salvo for S1C17 Family distribution contains the Salvo libraries of the lesser distributions beneath it Ta aav Reference Manual Target Specific Salvo Source Files Depending on the memory model chosen one of three different context switcher files is required for Salvo Pro source code builds as shown in Table 3 Context switcher Filename Application salvoporteps1c17 small s small memory model 64KB salvoporteps1c17 middle s middle memory model 1MB salvoporteps1c17 regular s regular memory model 16MB Table 3 Target specific context switcher files for Seiko Epson s C Compiler Package for S1C17 Family These context switching files vary in the manner in which function pointers are employed for task vectoring as well as in the extended instructions used salvocfg h Examples Below are examples of salvocfg h project configuration files for different Salvo for S1C17 Family distrib
16. renc vosched c 371 undefined referenc vosched o salvosched c 371 mor to OSDelPrioQ follow Listing 9 Iderr contents after failing to include one of Salvo s source files in a Salvo Pro source code build GNU17 IDE for Seiko Epson s C Compiler Package for 1C17 Family In this Salvo Pro source code build example the two functions OSDelDelayQ and OSDelPrioQ could not be found A review RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17 15 The RTOS that runs in tiny places 16 Reference Manual of the Salvo User Manual or a grep on the Salvo source code directory reveals that these functions are located in salvoqdel c Adding salvoqdel c to the project resulted in a successful build This is done automatically through the _c17 symbol defined by the compiler Salvo 4 1 2 rcO with v1 1 compiler In bytes Entire application including text section Does not include vector rodata or other sections In bytes Entire application including bss section Does not include RAM reserved for the hardware stack This hook is valid for all S1C17 targets OSTimer does not control interrupts because it should never be called from more than one location in user code For example if Salvo s tcb array starts at address 0 the first tcb has a handle of 0 which leads to problems when adding that tcb to any queue the queueing algorithm reads the zero handle as there being no element in the queue at that p
17. terrupt hooks to selectively disable and re enable only those peripheral sources of interrupts whose associated ISRs call Salvo services For example if incoming UART characters signal to Salvo via a call to OSSignalBinsem that the input stream must be processed by a task then the interrupt hooks should be configured as void OSDisableHook void UART_CTL amp RIEN suppress Rx ints void OSEnableHook void UART_CTL RIEN allow Rx ints Listing 6 Example Salvo interrupt hooks pseudocode for Seiko Epson s C Compiler Package for S1C17 Family when receiving a character leads to a Salvo API call RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson 1017 9 The RTOS that runs in tiny places Watchdog 10 Reference Manual Note The hooks in Listing 6 assume that interrupt are enabled globally at all times and that only the receive character ISR calls a Salvo API service This approach avoids any direct manipulation of the PSR s I bit thereby leaving the SIC17 to automatically disable global interrupts upon servicing an interrupt and restoring them thereafter to their pre interrupt state Also this approach disabling only those peripheral interrupt sources that call Salvo API services from the foreground interrupt level is the highest performance approach as it minimizes interrupt latency and guarantees that all interrupt sources that are not associated with Salvo API
18. trates important features of Salvo s port to Seiko Epson s C Compiler Package for S1C17 Family RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17 Sm dV 0 Reference Manual General Abbreviated as EPS1C17 Salvo Lite LE amp Pro for S1C17 Family Available distributions Supported targets entire S1C17 family Header file s salvoportepsilcl7 h salvoportepsicl7 small s Other target specific file s salvoportepsicl7 middle s salvoportepsicl7 regular s salvocfg h Compiler auto detected yes Include target specific header file in salvocfg h bd libraries Located in Lib EPS1C17 Context Switching function based via Boned OSDispatch amp OSCtxSw Labels required no Size of auto variables and total size must not exceed 255 8 bit function parameters in tasks bytes Memory amp Registers R4 R7 call saved registers saved in each tcb 32 bits each Interrupts Interrupt latency in context switcher Ueno Interrupts in critical sections user hooks controlled via Default behavior in critical i see example user hooks sections Debugging Source level debugging with Pro library builds Yes Compiler Bitfield packing support no printf p support yes yes va_arg support yes Table 1 Features of Salvo port to Seiko Epson s C Compiler Package for S1C17 Family Libraries Nomenclature The Salvo libraries for Seiko Epson s C Compiler Package for S1C17 Family follow the naming conventio
19. utions targeting any device in the S1C17 family 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 1 Listing 1 Example salvocfg h for library build using libsalvofeps1c17s t a Salvo LE amp Pro Library Build define OSUSE_ LIBRARY TRUE define OSLIBRARY_TYPE OSL define OSLIBRARY CONFIG OST define OSTASKS 7 define OSEVENTS 13 define OSEVENT_FLAGS 3 define OSMESSAGE_QUEUES 2 Listing 2 Example salvocfg h for library build using libsalvoleps1c17r t a or libsalvoleps1c17m t a or libsalvoleps1c17s t a 6 RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17 The RTOS that runs in tiny places Reference Manual Salvo Pro Source Code Build Interrupt Latencies RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17 define OSENABLE IDLING HOOK TRUE define OSENABLE SEMAPHORES RUE define OSTASKS 9 define OSEVENTS 17 define OSEVENT_FLAGS 2 define OSMESSAGE QUEUES 4 Listing 3 Example salvocfg h for source code build Since Salvo s context switcher for Seiko Epson s C Compiler Package for S1C17 Family does not need to control interrupts Salvo applications can easily be created with zero tota
20. ypes C C Include Paths amp Symbols General CiC Indexer Optimization TOOL DIR include C C Make Project erie pao a C C Project Paths Symbols X ALYG_DIR Ine Guus Buid Options Code Generation GNU17 GDB Commands Miscellaneous Gui General 5 Assembler amp GNU17 Linker Script Settings General amp GNU17 Parameter Settings Linker Project References General Refactoring History Libraries Build Options Environments r Compiler Include Paths I Revert Settings Apply Figure 3 Setting the Include Paths GNU17 IDE for Seiko Epson s C Compiler Package for S1C17 Family Tip For portability and other reasons you may find it advantageous to use environment settings in setting include paths To do so select Project Properties GNU17 Build Options Build Options Environments and click on New For example you could create an environment setting named SALVO_DIR and assign it a value of C Pumpkin Salvo Then add an include path of SALVO_DIR Inc instead of C Pumpkin Salvo Inc Note Your project is likely to require other non Salvo include paths as well These can be set using the same procedures as outlined above Generally speaking the Salvo code and user code calling the Salvo API will compile successfully as long you are using the Salvo API RM EPS1C17 Salvo Compiler Reference Manual Seiko Epson S1C17 13 The RTOS that runs in tiny places Ref
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