Main
Preface
C-compiler package for R32C/100 series microcomputers (abbreviated as NC100)
Release Note
Users Manual (PDF file)
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Contents
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List of Figures
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List of Tables
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1. Users Manual Organization
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2. General Information
2.1 Objective of MR100 Development
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2.3 MR100 Features
3. Introduction to Kernel
3.1 Concept of Real-time OS
3.1.1 Why Real-time OS is Necessary
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3.1.2 Operating Principles of Kernel
Time
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3.2 Service Call
3.2.1 Service Call Processing
3.2.2 Processing Procedures for Service Calls from Handlers
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3.3 Object
3.3.1 The specification method of the object in a service call
3.4 Task
3.4.1 Task Status
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3.4.2 Task Priority and Ready Queue
TCB
TCBTCB TCBTCB
3.4.3 Task Priority and Waiting Queue
taskB
taskC
3.4.4 Task Control Block(TCB)
Task connection pointer
Flag wait mode
Flag wait pattern
Startup request counter
3.5 System States
3.5.1 Task Context and Non-task Context
1. Interrupt Handler
2. Cyclic Handler
3. Alarm Handler
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3.5.2 Dispatch Enabled/Disabled States
3.5.3 CPU Locked/Unlocked States
3.5.4 Dispatch Disabled and CPU Locked States
3.6 Regarding Interrupts
3.6.1 Types of Interrupt Handlers
High
Kernel interrupt handler
Non-kernel interrupt handler
For service calls that can be issued from only task context.
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3.7 Stacks
3.7.1 System Stack and User Stack
User Stack
System Stack
4. Kernel
4.1.1 Module Structure
4.1.2 Module Overview
Scheduler
Task Management Module
Task Synchronization Module
Interrupt Management Module
Time Management Module
Activate Task (act_tsk, iact_tsk)
Ter mi na ted
Activate Task (sta_tsk, ista_tsk)
Terminate Invoking Task (ext_tsk)
Terminate Task (ter_tsk)
Reference task priority (get_pri, iget_pri)
Reference task status (simple version) (ref_tst, iref_tst)
Reference task status (ref_tsk, iref_tsk)
4.1.4 Synchronization functions attached to task
Put Task to sleep (slp_tsk,tslp_tsk) Wakeup task (wup_tsk, iwup_tsk)
Wake up r eque st c oun t
0 0 1 0 0
Wakeup request count
0 0 1 2 1
Suspend task (sus_tsk, isus_tsk) Resume suspended task (rsm_tsk, irsm_tsk)
Forcibly resume suspended task (frsm_tsk, ifrsm_tsk)
Release task from waiting (rel_wai, irel_wai)
Delay task (dly_tsk)
4.1.5 Synchronization and Communication Function (Semaphore)
Semaphore
Task
A
Release Semaphore Resource(sig_sem, isig_sem)
Acquire Semaphore Resource(wai_sem, twai_sem)
Acquire Semaphore Resource(pol_sem, ipol_sem)
Reference Semaphore Status (ref_sem, iref_sem)
4.1.6 Synchronization and Communication Function (Eventflag)
Set Eventflag (set_flg, iset_flg)
Clear Eventflag (clr_flg, iclr_flg)
Wait for Eventflag (wai_flg, twai_flg)
Wait for Eventflag (polling)(pol_flg, ipol_flg)
Reference Eventflag Status (ref_flg, iref_flg)
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4.1.7 Synchronization and Communication Function (Data Queue)
Data
Data Data
Task B Task A
Send to Data Queue(snd_dtq, tsnd_dtq)
Send to Data Queue (psnd_dtq, ipsnd_dtq)
Forced Send to Data Queue (fsnd_dtq, ifsnd_dtq)
Receive from Data Queue (rcv_dtq, trcv_dtq)
Receive from Data Queue (prcv_dtq,iprcv_dtq)
4.1.8 Synchronization and Communication Function (Mailbox)
T_MSG: Mailbox message header T_MSG_PRI: Mailbox message header with priority included
Message Message
TaskB TaskA
Send to Mailbox (snd_mbx, isnd_mbx)
Receive from Mailbox (rcv_mbx, trcv_mbx)
Receive from Mailbox (polling) (prcv_mbx, iprcv_mbx)
Reference Mailbox Status (ref_mbx, iref_mbx)
4.1.9 Memory pool Management Function(Fixed-size Memory pool)
Acquire Fixed-size Memory Block (get_mpf, tget_mpf)
Acquire Fixed-size Memory Block (polling) (pget_mpf, ipget_mpf)
Release Fixed-size Memory Block (rel_mpf, irel_mpf)
Reference Fixed-size Memory Pool Status (ref_mpf, iref_mpf)
4.1.10 Variable-size Memory Pool Management Function
Equation for calculating four kinds of block sizes
Example of a configuration file
Processing speed
Memory usage efficiency
Rounding Memorypool
224 bytes
Ease of configuration
Reference Acquire Variable-size Memory Pool Status (ref_mpl, iref_mpl)
4.1.11 Time Management Function
Place a task in a finite time wait state by specifying a timeout value
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4.1.12 Cyclic Handler Function
Start Cyclic Handler Operation (sta_cyc, ista_cyc)
Stop Cyclic Handler Operation (stp_cyc, istp_cyc)
Reference Cyclic Handler Status (ref_cyc, iref_cyc)
4.1.13 Alarm Handler Function
Start Alarm Handler Operation (sta_alm, ista_alm)
Stop alarm Handler Operation (stp_alm, istp_alm)
Reference Alarm Handler Status (ref_alm, iref_alm)
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4.1.15 Interrupt Management Function
Returns from interrupt handler (ret_int)
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5. Service call reffernce
5.1 Task Management Function
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act_tsk Activate task iact_tsk Activate task (handler only)
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can_act Cancel task activation request ican_act Cancel task activation request (handler only)
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sta_tsk Activate task with a start code ista_tsk Activate task with a start code (handler only)
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ext_tsk Terminate invoking task
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ter_tsk Terminate task
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chg_pri Change task priority ichg_pri Change task priority(handler only)
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get_pri Reference task priority iget_pri Reference task priority(handler only)
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ref_tsk Reference task status iref_tsk Reference task status (handler only)
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5.2 Task Dependent Synchronization Function
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
slp_tsk Put task to sleep tslp_tsk Put task to sleep (with timeout)
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wup_tsk Wakeup task iwup_tsk Wakeup task (handler only)
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can_wup Cancel wakeup request ican_wup Cancel wakeup request (handler only)
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rel_wai Release task from waiting irel_wai Release task from waiting (handler only)
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sus_tsk Suspend task isus_tsk Suspend task (handler only)
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dly_tsk Delay task
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5.3 Synchronization & Communication Function (Semaphore)
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
sig_sem Release semaphore resource isig_sem Release semaphore resource (handler only)
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ref_sem Reference semaphore status iref_sem Reference semaphore status (handler only)
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5.4 Synchronization & Communication Function (Eventflag)
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
set_flg Set eventflag iset_flg Set eventflag (handler only)
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clr_flg Clear eventflag iclr_flg Clear eventflag (handler only)
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ref_flg Reference eventflag status iref_flg Reference eventflag status (handler only)
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5.5 Synchronization & Communication Function (Data Queue)
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
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ref_dtq Reference data queue status iref_dtq Reference data queue status (handler only)
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5.6 Synchronization & Communication Function (Mailbox)
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
snd_mbx Send to mailbox isnd_mbx Send to mailbox (handler only)
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ref_mbx Reference mailbox status iref_mbx Reference mailbox status (handler only)
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5.7 Memory Pool Management Function (Fixed-size Memory Pool)
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
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rel_mpf Release fixed-size memory block irel_mpf Release fixed-size memory block (handler only)
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5.8 Memory Pool Management Function (Variable-size Memory Pool)
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
pget_mpl Aquire variable-size memory block (polling)
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rel_mpl Release variable-size memory block
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5.9 Time Management Function
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
set_tim Set system time iset_tim Set system time (handler only)
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get_tim Reference system time iget_tim Reference system time (handler only)
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isig_tim Supply a time tick
5.10 Time Management Function (Cyclic Handler)
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
sta_cyc Start cyclic handler operation ista_cyc Start cyclic handler operation (handler only)
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stp_cyc Stops cyclic handler operation istp_cyc Stops cyclic handler operation (handler only)
ref_cyc Reference cyclic handler status iref_cyc Reference cyclic handler status (handler only)
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5.11 Time Management Function (Alarm Handler)
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
sta_alm Start alarm handler operation ista_alm Start alarm handler operation (handler only)
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stp_alm Stop alarm handler operation istp_alm Stop alarm handler operation (handler only)
ref_alm Reference alarm handler status iref_alm Reference alarm handler status (handler only)
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5.12 System Status Management Function
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
rot_rdq Rotate task precedence irot_rdq Rotate task precedence (handler only)
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loc_cpu Lock the CPU iloc_cpu Lock the CPU (handler only)
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unl_cpu Unlock the CPU iunl_cpu Unlock the CPU (handler only)
dis_dsp Disable dispatching
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ena_dsp Enables dispatching
sns_ctx Reference context
sns_loc Reference CPU state
sns_dsp Reference dispatching state
sns_dpn Reference dispatching pending state
5.13 Interrupt Management Function
Table 5.24 List of Interrupt Management Function Service Call
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
ret_int Returns from an interrupt handler (when written in assembly language)
5.14 System Configuration Management Function
Table 5.25 List of System Configuration Management Function Service Call
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
ref_ver Reference version information iref_ver Reference version information (handler only)
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5.15 Extended Function (Short Data Queue)
Table 5.26 Specifications of the Short Data Queue Function
Table 5.27 List of Long Dataqueue Function Service Call
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
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5.16 Extended Function (Reset Function)
Table 5.28 List of Reset Function Service Call
[S]: Standard profile service calls
Each sign within " System State " is a following meaning.
vrst_dtq Clear data queue area
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vrst_vdtq Clear Short data queue area
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vrst_mbx Clear mailbox area
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vrst_mpf Clear fixed-size memory pool area
vrst_mpl Clear variable-size memory pool area
6. Applications Development Procedure Overview
6.1 Overview
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HEW
Figure 6.1 MR100 System Generation Detail Flowchart
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Figure 6.2 Program Example
6.2.2 Configuration File Preparation
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Figure 6.3 Configuration File Example
Execute the make command to generate the system.
6.2.3 Configurator Execution
Figure 6.4 Configurator Execution
6.2.4 System generation
Figure 6.5 System Generation
6.2.5 Writing ROM
7. Detailed Applications
7.1 Program Coding Procedure in C Language
7.1.1 Task Description Procedure
7.1.2 Writing a Kernel (OS Dependent) Interrupt Handler
7.1.3 Writing Non-kernel Interrupt Handler
7.1.4 Writing Cyclic Handler/Alarm Handler
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7.2 Program Coding Procedure in Assembly Language
7.2.1 Writing Task
7.2.2 Writing Kernel Interrupt Handler
7.2.3 Writing Non-kernel Interrupt Handler
7.2.4 Writing Cyclic Handler/Alarm Handler
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7.3.1 C Language Startup Program (crt0mr.a30)
Figure 7.11 shows the C language startup program(crt0mr.a30).
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Figure 7.11 C Language Startup Program (crt0mr.a30)
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; ****************************************************************
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7.4 Memory Allocation
asm_sec.inc
c_sec.inc
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8. Using Configurator
8.1 Configuration File Creation Procedure
8.1.1 Configuration File Data Entry Format
Comment Statement
End of statement
123 123 + 0x23 (23/4 + 3) 100B + 0aH
Symbol
_TASK1 IDLE3
Function Name
main() func()
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[( Task definition )]
<< Format >>
1. Task ID name [( Definition format )] [( Definition range )] [( Default value )]
2. Start address of task [( Definition format )] [( Definition range )] [( Default value )]
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Section name
Maximum message size
Message buffer transmit wait queue selection
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[( Fixed interrupt vector definition )]
Start address
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8.1.3 Configuration File Example
The following is the configuration file example.
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cfg100
Figure 8.1 The operation of the Configurator
8.2.2 Setting Configurator Environment
Default configuration file (default.cfg)
8.2.5 Configurator Error Indications and Remedies
Error messages
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Warning messages
9. Sample Program Description
9.1 Overview of Sample Program
Table 9.1 Functions in the Sample Program
task2 operates in order of the following.
9.2 Program Source Listing
9.3 Configuration File
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10. Stack Size Calculation Method
10.1 Stack Size Calculation Method
XXX_XXX()
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10.1.1 User Stack Calculation Method
User stack size = Sections used in user program + registers used + Sections used in MR100
Stack growing direction
Figure 2.3:Example of Use Stack Size Calculation
10.1.2 System Stack Calculation Method
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[( Stack size i used by interrupt handlers )]
The stack size to be used by non-kernel interrupt handler = register to be used + user size
Figure 10.5: Stack size to be used by Kernel Interrupt Handler(Written in C language)
[( System stack size used by system clock interrupt handler )]
10.2 Necessary Stack Size
Table 10.1 Stack Sizes Used by Service Calls Issued from Tasks (in bytes)
Table 10.2 Stack Sizes Used by Service Calls Issued from Handlers (in by tes)
Table 10.3 Stack Sizes Used by Service Calls Issued from T asks and Handlers (in bytes)
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11. Note
11.1 The Use of INT Instruction
Table 11.1 Interrupt Number Assignm ent
11.2 The Use of registers of bank
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12. Appendix
12.1 Data Type
12.2 Common Constants and Packet Format of Structure
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12.3 Assembly Language Interface
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Memorypool Management Functions
Time Management Functions
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System Configuration Management Functions
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2007. Renesas Technology Corp. and Renesas Solutions Corp.,
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