Virtuoso ™ The Virtual Single Processor Programming System User Manual Covers : PA RT 3 Virtuoso Micro ™ Virtuoso Classico ™ Version 3.11 Copyright 1996 Eonic Systems Copyright 1996 Eonic Systems Table of Contents Introduction INT - 1 Release notes INT - 3 V.3.01 September 1992 ........................................................................................INT - 3 V.3.05 January 1993 .............................................................................................INT - 3 V.3.09 September 1993 ........................................................................................INT - 3 V.3.09.1 November 1993 ......................................................................................INT - 4 V.3.11 September 1996 ........................................................................................INT - 4 Implementation-Specific Features INT - 5 Trademark Notices INT - 6 The history of Virtuoso INT - 7 Milestones .............................................................................................................INT - 8 Manual Format INT - 9 License agreement LIC - 1 OWNERSHIP AND CONDITIONS : ...................................................................... LIC - 1 1. OWNERSHIP : ......................................................................................... LIC - 1 2. FEES : ...................................................................................................... LIC - 1 4. CUSTOMER’S PRIVILEGES : ................................................................. LIC - 2 5. CUSTOMER OBLIGATIONS : ................................................................. LIC - 2 6. CUSTOMER PROHIBITIONS : ................................................................ LIC - 3 7. LIMITED WARRANTY : ........................................................................... LIC - 4 8. GENERAL : .............................................................................................. LIC - 4 Part 1. The concepts P1 - 1 Installation P1 - 3 PA RT 3 Installing the software ............................................................................................. P1 - 3 Kernel libraries provided ......................................................................................... P1 - 4 Confidence test ...................................................................................................... P1 - 4 Virtuoso compilation symbols ................................................................................. P1 - 5 The license agreement ........................................................................................... P1 - 6 Site developers license and runtimes ........................................................... P1 - 6 Support and maintenance ............................................................................. P1 - 6 Cross development capability ................................................................................ P1 - 6 The final reference ................................................................................................. P1 - 7 A short introduction P1 - 8 The one page manual ............................................................................................ P1 - 8 Underlying assumptions when programming ......................................................... P1 - 9 Virtuoso : an overview P1 - 10 Requirements for a programming system ............................................................ P1 - 10 Copyright 1996 Eonic Systems Virtuoso User Manual TOC - 1 The high level view : a portable set of services .................................................... P1 - 10 A multi-tasking real-time microkernel as the essential module ................... P1 - 10 Classes of microkernel services ................................................................. P1 - 11 The object as the unit of distribution ........................................................... P1 - 11 A multi-level approach for speed and flexibility .................................................... P1 - 13 An execution trace illustrated ............................................................................... P1 - 16 Processor specific support ................................................................................... P1 - 17 Functional support from Virtuoso P1 - 18 Introduction .......................................................................................................... P1 - 18 Parallel processing : the next logical step ............................................................ P1 - 18 What is (hard) real-time ? ..................................................................................... P1 - 20 The high demands of Digital Signal Processing ................................................... P1 - 21 A first conclusion .................................................................................................. P1 - 22 Parallel programming : the natural way ................................................................ P1 - 22 About objects and services .................................................................................. P1 - 23 The Virtuoso microkernel objects and the related services ........................ P1 - 23 Class Task .................................................................................................. P1 - 23 The task as a unit of execution .......................................................... P1 - 23 Priority and scheduling ...................................................................... P1 - 24 Task execution management ............................................................. P1 - 25 Class Timer ................................................................................................. P1 - 26 Class Memory ............................................................................................. P1 - 27 Class Resource ........................................................................................... P1 - 29 Class Semaphore ....................................................................................... P1 - 29 Class Message ........................................................................................... P1 - 30 Once-only synchronization : the KS_MoveData() service ................. P1 - 32 Class Queue ............................................................................................... P1 - 32 Class Special .............................................................................................. P1 - 33 Class Processor Specific ............................................................................ P1 - 33 Low level support with Virtuoso ............................................................................ P1 - 34 The ISR levels ............................................................................................. P1 - 35 Levels supported by the Virtuoso products. ......................................................... P1 - 37 Support for parallel processing ............................................................................ P1 - 37 Target Environment .............................................................................................. P1 - 37 Virtuoso auxiliary development tools .................................................................... P1 - 37 Single processor operation .................................................................................. P1 - 38 Virtual Single Processor operation ....................................................................... P1 - 39 Heterogeneous processor systems ...................................................................... P1 - 40 Simple Examples P1 - 42 Hello, world .......................................................................................................... P1 - 42 Use of a Queue .................................................................................................... P1 - 44 Applications P1 - 46 Scalable embedded systems ............................................................................... P1 - 46 Complex control systems ..................................................................................... P1 - 47 TOC - 2 Virtuoso User Manual Copyright 1996 Eonic Systems Simulation in the control loop ............................................................................... P1 - 47 Fault tolerant systems .......................................................................................... P1 - 47 Communication systems ...................................................................................... P1 - 48 PART 2: Reference Manual P2 - 1 Virtuoso microkernel types & data structures P2 - 3 Microkernel types ................................................................................................... P2 - 3 Tasks ...................................................................................................................... P2 - 3 Task Identifier & Priority ................................................................................ P2 - 4 Task group set .............................................................................................. P2 - 4 Task State ..................................................................................................... P2 - 4 Task Entry Point ............................................................................................ P2 - 5 Task Abort Handler ....................................................................................... P2 - 5 Task