Using the TASKING RTOS for TriCore MA160-700 (v1.0) February 12, 2016 Copyright © 2016 Altium BV. All rights reserved.You are permitted to print this document provided that (1) the use of such is for personal use only and will not be copied or posted on any network computer or broadcast in any media, and (2) no modifications of the document is made. Unauthorized duplication, in whole or part, of this document by any means, mechanical or electronic, including translation into another language, except for brief excerpts in published reviews, is prohibited without the express written permission of Altium BV. Unauthorized duplication of this work may also be prohibited by local statute. Violators may be subject to both criminal and civil penalties, including fines and/or imprisonment. Altium, TASKING, and their respective logos are trademarks or registered trademarks of Altium Limited or its subsidiaries. All other registered or unregistered trademarks referenced herein are the property of their respective owners and no trademark rights to the same are claimed. Table of Contents Manual Purpose and Structure ........................................................................................... vii 1. Introduction to the RTOS Kernel ........................................................................................ 1 1.1. Real-time Systems .............................................................................................. 1 1.2. Real-time Operating System .................................................................................. 1 1.3. ISO 17356 ......................................................................................................... 2 1.3.1. Operating Sytem (OS) ............................................................................... 2 1.3.2. Communication (COM) .............................................................................. 3 1.3.3. Implementation Language (OIL) ................................................................... 3 1.3.4. Run Time Interface (ORTI) .......................................................................... 3 1.3.5. The ISO 17356 Documentation .................................................................... 3 1.4. The TASKING RTOS ............................................................................................ 3 1.4.1. Why Using the TASKING RTOS? .................................................................. 4 2. Getting Started .............................................................................................................. 5 2.1. What is an RTOS Project? ..................................................................................... 5 2.2. Creating an RTOS Project ..................................................................................... 7 2.3. Configuring the RTOS Objects and Attributes ............................................................ 8 2.4. Generate RTOS Code ........................................................................................ 10 2.5. TASKING RTOS Configurator Preferences .............................................................. 11 2.6. Edit the Application Files ..................................................................................... 11 2.7. Set the Project Options ....................................................................................... 12 2.8. How to Build an RTOS Application ........................................................................ 13 2.9. How to Debug an RTOS Application ...................................................................... 13 3. RTOS Objects and Attributes .......................................................................................... 15 3.1. What are the OIL System Objects? ........................................................................ 15 3.1.1. Standard and Non-Standard Attributes ........................................................ 15 3.1.2. Overview of System Objects and Attributes .................................................. 15 3.1.3. Non-Standard Attributes for the TriCore ........................................................ 17 4. Startup Process ........................................................................................................... 19 4.1. Introduction ...................................................................................................... 19 4.2. System Boot ..................................................................................................... 19 4.3. The main() Module ............................................................................................. 20 4.3.1. What are Application Modes? .................................................................... 20 4.4. RTOS Initialization ............................................................................................. 20 4.5. Shut-down Process ............................................................................................ 21 4.6. API Service Restrictions ...................................................................................... 23 5. Task Management ........................................................................................................ 25 5.1. What is a Task? ................................................................................................. 25 5.2. Defining a Task in the C Source ............................................................................ 25 5.3. The States of a Task ........................................................................................... 26 5.4. The Priority of a Task .......................................................................................... 26 5.4.1. Virtual versus Physical Priorities ................................................................. 27 5.4.2. Fast Scheduling ...................................................................................... 29 5.5. Activating and Terminating a Task .......................................................................... 29 5.6. Scheduling a Task .............................................................................................. 32 5.6.1. Full-preemptive Tasks .............................................................................. 32 5.6.2. Nonpreemptive Tasks ............................................................................... 33 5.6.3. Scheduling Policy .................................................................................... 33 5.7. The Stack of a Task ............................................................................................ 36 iii Using the TASKING RTOS for TriCore 5.8. C Interface for Tasks ........................................................................................... 37 6. Events ....................................................................................................................... 39 6.1. Introduction ...................................................................................................... 39 6.2. Adding Events ................................................................................................... 39 6.3. Using Events .................................................................................................... 40 6.4. The C Interface for Events ................................................................................... 44 7. Resource Management ................................................................................................. 47 7.1. Key Concepts ................................................................................................... 47 7.2. What is a Resource? .......................................................................................... 48 7.3. The Ceiling Priority Protocol ................................................................................. 55 7.3.1. Priority Inversion ..................................................................................... 55 7.3.2. Deadlocks ............................................................................................. 56 7.3.3. Description of The Priority Ceiling Protocol ................................................... 56 7.4. Grouping Tasks ................................................................................................. 58 7.5. The Scheduler as a Special Resource .................................................................... 61 7.6. The C Interface for Resources .............................................................................. 62 8. Alarms ....................................................................................................................... 63 8.1. Introduction ...................................................................................................... 63 8.2. Counters .......................................................................................................... 63 8.2.1. What is a Counter? .................................................................................. 63 8.2.2. The RTOS System Counter ....................................................................... 64 8.3. What is an Alarm? ............................................................................................. 66 8.4. The C Interface for Alarms ................................................................................... 71 9. Interrupts ...................................................................................................................