NORTi Users Guide (Kernel Edition)

1 NORTi kernel User's Guide Specification Real Time OS NORTi Version 4 User s Guide ( kernel edition ) Preface NORTi Version 4 , a product that is confidently supplied to you by MiSPO Co., Ltd., is the real-time OS based on the ITRON specifications as exhibited by TRON association. This product has implemented all the system calls in the ITRON specifications (except the definition of the CPU sample handler). Furthermore, it is compatible with system calls of NORTi3 ( specification), so that the previous version of software components can be utilized without any modification. NORTi is a compact and development friendly OS designed exclusively for Embedded Systems.

2 Just similar to compiler library, NORTi OS functions are operational after linking NORTi libraries with user application program. NORTi includes the TCP/IP protocol stack conforming to ITRON TCP/IP API specification and is suitable for operations with Embedded Systems. Using NORTi , the correspondence is very fast for embedded systems development using network connection with indispensable technology. For your system developments, please use the highly efficient and compact NORTi OS, which comes with all source code as standard attachment without any royalty charges. About This Documentation This book ( kernel edition ) is a common reference manual for real-time multitasking functions of NORTi Version 4 series.

3 The first half section explains the outline and each system call is explained in second half section. Please refer to the installed document about a report peculiar to a processor. Please refer to the user s Guide of Network edition for detailed information about a TCP/IP protocol stack functions. Reference The support window at MiSPO Co., Ltd. via E-mail is open at following addresses. General inquiry: Technical support request: Please enquire at individual manufacturer, when NORTi is introduced as a bundled product with debugger or hardware board etc. NORTi kernel User's Guide Disclaimer Although the contents of this document are intended to describe the correct operation, MiSPOCo.

4 , Ltd. does not guaranty the complete error free operation. MiSPO Co., Ltd. assumes noliability for any errors or insufficient contents in this document. MISPO Co., Ltd. reserves the right to change the contents of this document without prior notice. Trademarks NORTi is the registered trademark of MiSPO Co., Ltd. Other brands and product names specified in this document are trademarks or registered trademarks of the respective company. ITRON is the abbreviated name of Micro Industrial TRON. TRON is the abbreviated name of The Realtime Operating system Nucleus. Index 1 Index Preface About This Documentation ..1 Reference ..1 Index 1. Basic Particulars Features ..1 High Speed Response.

5 1 Compact kernel Designed with C source 1 Conformity to both and Specifications ..1 Full Set of 1 Corresponds to verities of processors, Compilers and Debuggers ..1 Task States ..2 Ready to Run State (READY)..3 Run State (RUNNING)..3 Wait State (WAITING)..3 Suspend State (SUSPENDED) .. 3 Suspended Wait State (WAITING-SUSPENDED) ..4 Dormant State (DORMANT) ..4 Non-Existent State (NON-EXISTENT)..4 Task Switching Instances ..4 Differences from Terminology ..6 Object and ID ..6 Task Independent Dispatch ..6 Synchronization / Communication Queue ..7 Polling and Timeout ..8 Parameter and Return-Parameter .. 8 System Call and Service Exclusive Control ..8 Idle Static Error and Dynamic Error.

6 9 Context Static API and Dynamic API ..9 Common Conventions ..10 System call Data type Argument name ..10 Index 2 Handling zeros and negative numbers ..10 Data Types (for 32-bit CPU) ..11 General purpose data type ..11 ITRON dependent data types .. 11 Time related data types ..12 Differences from Data Types (for 16-bit CPU) ..13 General purpose data types ..13 ITRON-dependent data types .. 13 Time related data types ..14 Differences from 2. Introduction Installation ..16 Include files ..16 Library ..17 Source files ..17 Sample ..17 kernel configuration ..18 Default configuration Customization of configuration ..18 Timer queue size ..19 Interrupt handler stack Timer event handler stack size.

7 20 System memory and management block sizes ..20 Memory size of a memory-pool .. 21 Size of a stack About dynamic memory management ..22 Interrupt-inhibit level of a ID Definition ..23 Automatic assignment of ID ..23 Example of creation of user 24 Example of 3. Task and Handler Description Task Task description Example of task description ..26 Interrupt mask state ..27 Task Exception handler routine ..27 Interrupt service routine and interrupt handler description ..28 Overview ..28 Interrupt service routine definition 28 Interrupt mask state ..28 Interrupt handler definition method ..28 Sample description of interrupt handler .. 29 ent_int system call ..29 Unnecessary instructions before Index 3 Prohibition of auto Suppression of inline expansion.

8 30 Description by partial assembly code .. 30 Interrupt mask state ..30 Timer event handler description ..31 Overview ..31 Timer event handler definition method ..31 Interrupt mask state ..31 Additional note ..32 Initialization handler ..33 Start-up routine ..33 main System initialization ..33 I/O Object creation ..34 Task start ..34 Cyclic timer interrupt start ..34 System start ..34 Example description of initialization 4. Function Overview Task management Overview ..36 Differences with NORTi3 ..36 Task management Scheduling and ready queue ..37 Task dependent synchronization functions ..38 Overview ..38 Differences with NORTi3 ..38 Waiting and releasing ..38 Suspend and Suspended Task exception handling Overview.

9 40 Differences from Start and end of exception handling routine ..40 Exception factor ..40 Synchronization / communication function (Semaphore) ..41 Overview ..41 Differences from Semaphore waiting queue ..41 Semaphore count value ..42 Synchronization / communication function (Event flag)..43 Overview ..43 Differences from Event flag waiting Waiting mode ..44 Index 4 Clear order ..44 Synchronization / communication function (Data Queue) ..45 Overview ..45 Differences from Data order ..45 Synchronization / communication function (Mail box) ..46 Overview ..46 Differences from Message Message queue ..47 Message packet domain ..47 Extended synchronization / communication function (Mutex).

10 48 Overview ..48 Differences from Priority inversion ..48 Extended synchronization / communication function (Message buffer) ..49 Overview ..49 Differences from Message queue ..49 Message reception waiting queue .. 49 Message transmission waiting Ring buffer section ..50 Ring buffer of size 0 ..51 Extended synchronization/communication function (rendezvous port) ..52 Overview ..52 Differences from Fundamental flow for rendezvous port operation ..52 Rendezvous Conditions for rendezvous operation .. 53 Rendezvous reception waiting Rendezvous call waiting queue .. 54 Interrupt management Overview ..55 Differences from Definition of interrupt handler and interrupt service Prohibiting and permitting individual Start of Interrupt Start of interrupt service RISC processor interrupt.