Freescale Semiconductor, Inc. OSEKturbo OS/MGT5100 v.2.2.1 Technical Reference Because of last-minute software changes, some information in this manual may be inaccurate. Please read the readme.txt file for the latest information. Revised: July 2002 For More Information: www.freescale.com Freescale Semiconductor, Inc. © 2002 MOTOROLA, ALL RIGHTS RESERVED Motorola reserves the right to make changes without further notice to any products herein to improve reliability, function or design. Motorola does not assume any liability arising out of the application or use of any product or circuit described herein; neither does it convey any license under its patent rights nor the rights of others. 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For More Information: www.freescale.com Freescale Semiconductor, Inc. Contents 1 Introduction 13 OSEKOSOverview.......................15 TypographicalConventions...................17 References...........................17 Definitions,AcronymsandAbbreviations.............18 TechnicalSupportInformation..................19 2 Operating System Architecture 21 ProcessingLevels........................21 ConformanceClasses......................22 OSEKOSOverallArchitecture..................24 Application Program Interface ..................26 3 Task Management 27 TaskConcept..........................27 ExtendedTasks.......................28 BasicTasks.........................30 TaskPriorities.........................31 TasksStacks..........................32 StackAllocation.......................32 SingleStack.........................32 ProgrammingIssues......................33 ConfigurationOptions....................33 DataTypes.........................33 TaskDefinition.......................33 Run-timeServices......................35 Constants..........................36 Conventions........................36 4 Scheduler 39 General............................39 SchedulingPolicy........................40 Non-preemptiveScheduling.................40 Full-preemptiveScheduling..................41 Mixed-preemptiveScheduling.................42 GroupsofTasks.......................43 ProgrammingIssues......................43 ConfigurationOptions....................43 OSEKturbo OS/MGT5100 TR–3 For More Information: www.freescale.com Freescale Semiconductor, Inc. Contents Run-timeServices......................44 5 Interrupt Processing 45 General............................45 ISRCategories.........................46 ISRCategory1.......................46 ISRCategory2.......................47 InterruptLevelManipulation..................48 ISRStack...........................48 InterruptDispatcher......................49 ProgrammingIssues......................49 ConfigurationOptions....................49 Run-timeServices......................49 Conventions........................51 ISRDefinition........................51 InterruptVectorDefinition..................52 6 Resource Management 53 General............................53 AccesstoResources.......................54 Restrictionswhenusingresources...............55 Priority Ceiling Protocol . .................55 SchedulerasaResource...................57 Internalresources........................57 ProgrammingIssues......................58 ConfigurationOption....................58 DataTypes.........................59 Run-timeServices......................59 ResourceDefinition.....................59 7 Counters and Alarms 61 General............................61 Counters...........................62 Alarms............................64 AlarmCallback.........................66 TimeScale...........................67 ProgrammingIssues......................67 ConfigurationOptions....................67 TR–4 OSEKturbo OS/MGT5100 For More Information: www.freescale.com Freescale Semiconductor, Inc. Contents DataTypes.........................67 CountersandAlarmGeneration................69 Run-timeServices......................71 Constants..........................71 8Events 73 General............................73 EventsandScheduling.....................74 ProgrammingIssues......................76 ConfigurationOptions....................76 DataTypes.........................76 EventsDefinition......................76 Run-timeServices......................77 9 Communication 79 MessageConcept........................79 UnqueuedMessages......................80 QueuedMessages.......................82 DataConsistency........................83 ProgrammingIssues......................83 ConfigurationOptions....................83 Identifiers.........................83 MessageDefinition.....................84 Run-timeServices......................84 CallbackFunction......................85 UsageofMessages......................85 10 Error Handling and Special Routines 87 General............................87 HookRoutines.........................87 ErrorHandling.........................92 ErrorInterface........................92 MacrosforErrorHook...................93 ExtendedStatus.......................94 PossibleErrorReasons....................94 Start-upRoutine........................94 Application Modes . ....................95 SystemShutdown.......................95 OSEKturbo OS/MGT5100 TR–5 For More Information: www.freescale.com Freescale Semiconductor, Inc. Contents ProgrammingIssues......................96 ConfigurationOptions....................96 11 System Configuration 97 General............................97 Application Configuration File . .................98 OILConcept..........................98 OILFile..........................98 OILFormat.........................99 ImplementationDefinition..................99 ImplementationDefinitionGrammar............99 Application Definition . .................102 ObjectDefinition.....................102 IncludeDirective.....................103 Comments........................103 FileStructure.......................103 ConfigurationFileRules...................104 12 System Objects Definition 105 General............................105 OSDefinition.........................106 GlobalSystemAttributes...................106 CPURelatedAttributes....................108