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REJ10J1523-0100
M3T-MR100/4 V.1.00
User’s Manual
Real-time OS for R32C/100 Series
Rev.1.00
September 16, 2007
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Active X, Microsoft, MS-DOS, Visual Basic, Visual C++, Windows and Windows NT are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries. IBM and AT are registered trademarks of International Business Machines Corporation. Intel and Pentium are registered trademarks of Intel Corporation. Adobe, Acrobat, and Acrobat Reader are trademarks of Adobe Systems Incorporated. TRON is an abbreviation of "The Real-time Operating system Nucle
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Preface 1 The M3T-MR100/4(abbreviated as MR100) is a real-time operating system for the R32C/100 series microcomputers. The 2 MR100 conforms to the μITRON Specification. This manual describes the procedures and precautions to observe when you use the MR100 for programming purposes. For the detailed information on individual service call procedures, refer to the MR100 Reference Manual. Requirements for MR100 Use When creating programs based on t
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Contents Requirements for MR100 Use ......................................................................................................................................i Document List...............................................................................................................................................................i Right of Software Use..................................................................................................................................
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4.1.8 Synchronization and Communication Function (Mailbox)..................................................... - 48 - 4.1.9 Memory pool Management Function(Fixed-size Memory pool) ............................................. - 50 - 4.1.10 Variable-size Memory Pool Management Function ................................................................ - 51 - 4.1.11 Time Management Function..................................................................................................... - 54
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wai_flg Wait for eventflag................................................................................................................. - 113 - pol_flg Wait for eventflag(polling)................................................................................................... - 113 - ipol_flg Wait for eventflag(polling, handler only)............................................................................ - 113 - twai_flg Wait for eventflag(with timeout)..............................
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ref_alm Reference alarm handler status.......................................................................................... - 166 - iref_alm Reference alarm handler status (handler only)................................................................. - 166 - 5.12 System Status Management Function.......................................................................................... - 168 - rot_rdq Rotate task precedence.................................................................
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7.2.3 Writing Non-kernel Interrupt Handler.................................................................................. - 216 - 7.2.4 Writing Cyclic Handler/Alarm Handler................................................................................. - 216 - 7.3 Modifying MR100 Startup Program.............................................................................................. - 218 - 7.3.1 C Language Startup Program (crt0mr.a30).................................................
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List of Figures Figure 3.1 Relationship between Program Size and Development Period.....................................- 7 - Figure 3.2 Microcomputer-based System Example(Audio Equipment) .........................................- 8 - Figure 3.3 Example System Configuration with Real-time OS(Audio Equipment) ......................- 9 - Figure 3.4 Time-division Task Operation.......................................................................................- 10 - Figure 3.5 Task Executi
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Figure 6.3 Configuration File Example ........................................................................................- 209 - Figure 6.4 Configurator Execution ...............................................................................................- 209 - Figure 6.5 System Generation.......................................................................................................- 210 - Figure 7.1 Example Infinite Loop Task Described in C Language .........................
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List of Tables Table 3.1 Task Context and Non-task Context ..............................................................................- 28 - Table 3.2 Invocable Service Calls in a CPU Locked State.............................................................- 30 - Table 3.3 CPU Locked and Dispatch Disabled State Transitions Relating to dis_dsp and loc_cpu- 30 - Table 5.1 Specifications of the Task Management Function.........................................................- 63 - Table 5.2
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xii
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1. User’s Manual Organization The MR100 User’s Manual consists of nine chapters and thee appendix. • 2 General Information Outlines the objective of MR100 development and the function and position of the MR100. • 3 Introduction to Kernel Explains about the ideas involved in MR100 operations and defines some relevant terms. • 4 Kernel Outlines the applications program development procedure for the MR100. • 5 Service call reffernce Details MR100 service call API • 6 Applications Developm
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2. General Information 2.1 Objective of MR100 Development In line with recent rapid technological advances in microcomputers, the functions of microcomputer-based products have become complicated. In addition, the microcomputer program size has increased. Further, as product development competi- tion has been intensified, manufacturers are compelled to develop their microcomputer-based products within a short period of time. In other words, engineers engaged in microcomputer software develo
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the greater part of program debugging can be initiated simply by observing the small modules. 4. Timer control is made easier. To perform processing at 10 ms intervals, the microcomputer timer function was formerly used to periodically in- itiate an interrupt. However, as the number of usable microcomputer timers was limited, timer insufficiency was compensated for by, for instance, using one timer for a number of different processing operations. When the real-time OS is introduced, how
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2.2 Relationship between TRON Specification and MR100 MR100 is the real-time operating system developed for use with the R32C/10 series of 32-bit microcomputers compliant with µITRON 4.0 Specification. µITRON 4.0 Specification stipulates standard profiles as an attempt to ensure software portability. Of these standard profiles, MR100 has implemented in it all service calls except for static APIs and task excep- tion APIs - 5 -
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2.3 MR100 Features The MR100 offers the following features. 1. Real-time operating system conforming to the μITORN Specification. The MR100 is designed in compliance with the μITRON Specification which incorporates a minimum of the ITRON Specification functions so that such functions can be incorporated into a one-chip microcomputer. As the μITRON Specification is a subset of the ITRON Specification, most of the knowledge obtained from published ITRON textbooks and ITRON seminars can
