iii
Contents
Requirements for MR100 Use ......................................................................................................................................i
Document List...............................................................................................................................................................i
Right of Software Use...................................................................................................................................................i
Contents............................................................................................................................................................. iii
List of Figures ................................................................................................................................................. viii
List of Tables ..................................................................................................................................................... xi
1.
User’s Manual Organization................................................................................................................... - 1 -
2.
General Information ............................................................................................................................... - 3 -
2.1
Objective of MR100 Development...................................................................................................... - 3 -
2.2
Relationship between TRON Specification and MR100................................................................... - 5 -
2.3
MR100 Features ................................................................................................................................. - 6 -
3.
Introduction to Kernel ............................................................................................................................ - 7 -
3.1
Concept of Real-time OS .................................................................................................................... - 7 -
3.1.1
Why Real-time OS is Necessary ................................................................................................. - 7 -
3.1.2
Operating Principles of Kernel................................................................................................. - 10 -
3.2
Service Call ....................................................................................................................................... - 14 -
3.2.1
Service Call Processing ............................................................................................................. - 15 -
3.2.2
Processing Procedures for Service Calls from Handlers......................................................... - 16 -
Service Calls from a Handler That Caused an Interrupt during Task Execution............................................. - 17 -
Service Calls from a Handler That Caused an Interrupt during Service Call Processing................................ - 18 -
Service Calls from a Handler That Caused an Interrupt during Handler Execution ....................................... - 19 -
3.3
Object................................................................................................................................................. - 20 -
3.3.1
The specification method of the object in a service call .......................................................... - 20 -
3.4
Task ................................................................................................................................................... - 21 -
3.4.1
Task Status ................................................................................................................................ - 21 -
3.4.2
Task Priority and Ready Queue ............................................................................................... - 25 -
3.4.3
Task Priority and Waiting Queue............................................................................................. - 26 -
3.4.4
Task Control Block(TCB) .......................................................................................................... - 27 -
3.5
System States.................................................................................................................................... - 28 -
3.5.1
Task Context and Non-task Context ........................................................................................ - 28 -
3.5.2
Dispatch Enabled/Disabled States ........................................................................................... - 30 -
3.5.3
CPU Locked/Unlocked States ................................................................................................... - 30 -
3.5.4
Dispatch Disabled and CPU Locked States............................................................................. - 30 -
3.6
Regarding Interrupts........................................................................................................................ - 31 -
3.6.1
Types of Interrupt Handlers ..................................................................................................... - 31 -
3.6.2
The Use of Non-maskable Interrupt ........................................................................................ - 31 -
3.6.3
Controlling Interrupts............................................................................................................... - 32 -
3.7
Stacks ................................................................................................................................................ - 34 -
3.7.1
System Stack and User Stack................................................................................................... - 34 -
4.
Kernel .................................................................................................................................................... - 35 -
4.1.1
Module Structure....................................................................................................................... - 35 -
4.1.2
Module Overview....................................................................................................................... - 36 -
4.1.3
Task Management Function ..................................................................................................... - 37 -
4.1.4
Synchronization functions attached to task ............................................................................ - 39 -
4.1.5
Synchronization and Communication Function (Semaphore)................................................ - 43 -
4.1.6
Synchronization and Communication Function (Eventflag) .................................................. - 45 -
4.1.7
Synchronization and Communication Function (Data Queue) .............................................. - 47 -
