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Embedded Systems Development and Labs; The English Edition 263 Figure 6-20 IIS Interface Circuit 6.3.5 Sample Programs /* function code */ /******************************************************************* * name: Test_Iis * func: Test IIS circuit * para: none * ret: none * modify: * comment: ********************************************************************/ void Test_Iis(void) { IISInit(); // initialize IIS Uart_Printf(" press \"R\" to Record , any key to play wav(t.wav)\n"); if(Uart_Getch()=='R') Record_Iis(); // test record Playwave(5); // play wave 5 times IISClose(); // close IIS } /********************************************************************* * name: IISInit * func: Initialize IIS circuit * para: none Embedded Systems Development and Labs; The English Edition 264 * ret: none * modify: * comment: ********************************************************************/ void IISInit(void) { rPCONE = (rPCONE&0xffff)+(2<<16); // Set I/O port PE8 output CODECLK signal iDMADone = 0; /* initialize philips UDA1341 chip */ Init1341(PLAY); } /******************************************************************** * name: Init1341 * func: Init philips 1341 chip * para: none * ret: none * modify: * comment: ******************************************************************/ void Init1341(char mode) { /* Port Initialize */ rPCONA = 0x1ff; // set PA9 as output and connect to L3D rPCONB = 0x7CF; // set PG5:L3M connect to PG4:L3C rPDATB = L3M|L3C; // L3M=H(start condition),L3C=H(start condition) /* L3 Interface */ _WrL3Addr(0x14+2); // status (000101xx+10) #ifdef FS441KHZ _WrL3Data(0x60,0); // 0,1,10,000,0 reset,256fs,no DCfilter,iis #else _WrL3Data(0x40,0); // 0,1,00,000,0 reset,512fs,no DCfilter,iis #endif _WrL3Addr(0x14+2); // status (000101xx+10) #ifdef FS441KHZ _WrL3Data(0x20,0); // 0,0,10,000,0 no reset,256fs,no DCfilter,iis #else _WrL3Data(0x00,0); // 0,0,00,000,0 no reset,512fs,no DCfilter,iis #endif Embedded Systems Development and Labs; The English Edition 265 _WrL3Addr(0x14+2); // status (000101xx+10) _WrL3Data(0x81,0); // 1,0,0,0,0,0,11 OGS=0,IGS=0,ADC_NI,DAC_NI,sngl speed,AonDon _WrL3Addr(0x14+0); // DATA0 (000101xx+00) _WrL3Data(0x0A,0); //record if(mode) { _WrL3Addr(0x14+2); //STATUS (000101xx+10) _WrL3Data(0xa2,0); //1,0,1,0,0,0,10 : OGS=0,IGS=1,ADC_NI,DAC_NI,sngl speed,AonDoff _WrL3Addr(0x14+0); //DATA0 (000101xx+00) _WrL3Data(0xc2,0); //11000,010 : DATA0, Extended addr(010) _WrL3Data(0x4d,0); //010,011,01 : DATA0, MS=9dB, Ch1=on Ch2=off, } //record } /******************************************************************* * name: _WrL3Addr * func: write control data address to 1341 through L3-interface * para: data control data address * ret: none * modify: * comment: ********************************************************************/ void _WrL3Addr(U8 data) { U32 vPdata = 0x0; // L3D=L U32 vPdatb = 0x0; // L3M=L(in address mode)/L3C=L S32 i,j; rPDATB = vPdatb; // L3M=L rPDATB |= L3C; // L3C=H for( j=0; j<4; j++ ) // tsu(L3) > 190ns ; //PA9:L3D PG6:L3M PG7:L3C for( i=0; i<8; i++ ) { Embedded Systems Development and Labs; The English Edition 266 if( data&0x1 ) // if data bit is 'H' { rPDATB = vPdatb; // L3C=L rPDATA = L3D; // L3D=H for( j=0; j<4; j++ )// tcy(L3) > 500ns ; rPDATB = L3C; // L3C=H rPDATA = L3D; // L3D=H for( j=0; j<4; j++ )// tcy(L3) > 500ns ; } else // if data bit is 'L' { rPDATB = vPdatb; // L3C=L rPDATA = vPdata; // L3D=L for( j=0; j<4; j++ )// tcy(L3) > 500ns ; rPDATB = L3C; // L3C=H rPDATA = vPdata; // L3D=L for( j=0; j<4; j++ )// tcy(L3) > 500ns ; } data >>= 1; } rPDATG = L3C|L3M; // L3M=H,L3C=H } /********************************************************************* * name: _WrL3Data * func: write control data to 1341 through L3-interface * para: data control data * halt halt operate * ret: none * modify: * comment: ******************************************************************/ void _WrL3Data(U8 data,int halt) { U32 vPdata = 0x0; // L3D=L U32 vPdatb = 0x0; // L3M/L3C=L S32 i,j; Embedded Systems Development and Labs; The English Edition 267 if(halt) { rPDATB = L3C; // L3C=H(while tstp, L3 interface halt condition) for( j=0; j<4; j++ ) // tstp(L3) > 190ns ; } rPDATB = L3C|L3M; // L3M=H(in data transfer mode) for( j=0; j<4; j++ ) // tsu(L3)D > 190ns ; // PA9:L3MODE PG6:L3DATA PG7:L3CLOCK for( i=0; i<8; i++ ) { if( data&0x1 ) // if data bit is 'H' { rPDATB = L3M; // L3C=L rPDATA = L3D; // L3D=H for( j=0; j<4; j++ )// tcy(L3) > 500ns ; rPDATB = L3C|L3M; // L3C=H,L3D=H rPDATA = L3D; for( j=0; j<4; j++ )// tcy(L3) > 500ns ; } else // if data bit is 'L' { rPDATB = L3M; // L3C=L rPDATA = vPdata; // L3D=L for( j=0; j<4; j++ )// tcy(L3) > 500ns ; rPDATB = L3C|L3M; // L3C=H rPDATA = vPdata; // L3D=L for( j=0; j<4; j++ )// tcy(L3) > 500ns ; } data >>= 1; } rPDATB = L3C|L3M; // L3M=H,L3C=H } Embedded Systems Development and Labs; The English Edition 268 6.3.6 Exercises (1) Write a program that implements the function of adjusting the voice volume via button. (2) Write a program that implements the recording function. Embedded Systems Development and Labs; The English Edition 269 Chapter7 Real Time Operation System Labs 7.1 uC/OS Porting Lab 6.3.1 Purpose ● Get familiar with the uC/OS-II porting conditions and uC/OS-II kernel basic architecture ● Understand the steps of porting the uC/OS-II kernel to the ARM processor. 7.1.2 Lab Equipment ● Hardware: Embest S3CEV40 hardware platform, Embest Standard/Power Emulator, PC. ● Software: Embest IDE 2003, Windows 98/2000/NT/XP operation system. 7.1.3 Content of the Lab Learn how to port the uC/OS-II kernel to the S3C44B0 ARM processor. Test its functionality using the Embest IDE. 7.1.4 Principles of the Lab 1. uC-OS-II File System The file system of the uC/OS-II real time kernel is shown in Figure 7-1. The application software layer is the code based on the uC/OS-II kernel. The uC/OS-II includes the following three parts: ● Kernel Code: This part has no relationship with the microprocessor. The kernel code includes 7 source files and 1 header file. The 7 source files are responsible for tasks such as: kernel management, event management, message queue management, memory management, message management, semaphore management, task scheduling and timer management. ● Configuration Code: This part includes 2 header files for configuring the number of events per control block and it includes message management code, etc. ● Processor Related Code: Includes 1 header file, 1 assembly file and 1 C file. In the process of porting the uC/OS-II kernel the users need to consider these files. Application Software Kernel Code (CPU independent) Oscore.c Os_mbox.c Os_mem.c Os_q.c Os_sem.c Os_task.c Os_time.c Ucos_ii.h Configuration Code (Application Related) Os_cfg.h Includes.h Embedded Systems Development and Labs; The English Edition 270 Figure 7-1 uC/OS-II File System 2. uC/OS-II Porting Conditions Porting the uC/OS-II to the ARM processor requires the following conditions: 1) The C Compiler Targeting the Microprocessor Can Generate Reentry Code Reentry code means that a piece of code can be used by more than one task without fear of data corruption. In another words, this code can be recalled after it was interrupted during the processing. The following are two examples of non-reentrant and reentrant functions: Int temp; Void swap (int *x, int *y) { temp=*x; *X=*Y; *y=Temp; } void swap(int *x, int *y) { int temp; temp=*x; *X=*Y; *y=Temp; } The difference between these two functions is that the place for storing the variable temp is different. In the first function, “temp” is a global variable. In the second function, “temp” is a local variable. As a result, the upper function is not reentrant function. The lower function is a reentrant function. 2) Use C Language to Enable/Disable Interrupts This can be done through the CPSR register within the ARM processor. The CPSR register has a global interrupt disable bit. Controlling this bit can enable/disable interrupts. 3) Microprocessor Supports Interrupts and Supports Timer Interrupts (Ticks) All of the ARM processor cores support interrupts and they can generate timer interrupts. 4) Microprocessor Provide Hardware Support for Stack Control Porting Code (Microprocessor Related) Os_cup.h Os_cpu_a.asm Os_cup_c.c Embedded Systems Development and Labs; The English Edition 271 For the 8-bit microprocessors that have only 10 address lines, the chip can only access a maximum of 1Kb memory. For these processors it is difficult to port the uC/OS-II kernel. 5) Microprocessor has Stack Pointer and Other Instructions for Reading Registers and Store the Contents of Register to Memory or Stack. The ARM processor has STMFD instruction for pushing the content of registers to stack, LDMFD instruction for pulling the register contents back from stack 3. uC/OS-II Porting Steps 1) Basic Configuration and Definition All the basic configurations and definitions are in 0s_cup.h. ● Defines the data type related to compiler. In order to port uC/OS-II applications, there should be no int, unsigned int, etc definitions in the program. UC/OS has its own data type such as INT16U which represents 16-bit unsigned integer. For a 32-bit ARM processor, the INT16U is unsigned short. For a 16-bit ARM processor, the INT16U is unsigned int. ● Defines interrupt enable or disable. ● Defines stack growing direction. After defining the growing direction of stack, the value of OS_STK_GROWTH is defined. ● Define the micro OS_TASK_SW. OS_TASK_SW is a called when a uc/OS-II lower priority task is switched with higher priority task. There are two ways to define it. One way is by using software interrupt and make the interrupt vector to point to the OSCtxSw() function. Another way is to call the OSCrxSw() function directly. 2) Porting OS_CPU_A.ASM Assembly File In the OS_CPU_A.ASM, there are four functions that need to be ported. (1) OSStartHighRdy() function. This function is called by OSStart() function to start the highest priority task ready to run. OSStart() is responsible for setting the tasks in the ready status. The functions of this routine are described in the MicroC/OS-II book using pseudocode language. This pseudocode must be converted in ARM assembly language. OSStartHighRdy() function loads the stack pointer of the CPU with the top-of-stack pointer of the highest priority task. Restore all processor registers from the new task’s stack. Execute a return from interrupt instruction. Note that OSStartHighRdy() never returns to OSStart(). (2) OSCtxSw() function. This function is responsible for the context switch. OSCtxSw() is generally written in assembly language because most C compilers cannot manipulate CPU registers directly from C. This function is responsible for pushing the registers of the current task on the stack; changing the SP to the new stack value; restore the registers of the new task; execute and return from the interrupt instruction. This function is called by OS_TASK_SW which in turn is called by the OSSched() function. OSSched() function is responsible for scheduling the tasks. (3) OSIntCtxSw() function. This function is called by OSIntExit() function to perform a context switch from an ISR. OSIntExit is called by OSTickISR() function. Because OSIntCtxSw() is called from an ISR, it is assumed that all the processor registers are already properly saved onto the interrupted task’s stack. OSIntCtxSw() function responds for switching the tasks in timer interruptions. The OSCtxSw() function and OSIntCtxSw() function are responsible for the switching between tasks. OSIntCtxSw() function is responsible for saving the current task pointer and recover the register values from the stack. Embedded Systems Development and Labs; The English Edition 272 (4) OSTickISR() function is a time tick function generated by the timer interrupt. OSTickISR() is responsible for saving the microprocessor registers and recovering the registers when the task switching is finished. 3) Porting OS_CPU_C.C File The third step of porting the uC/OS-II kernel is to port the OS_CPU_C.C file. There are 6 functions in this file that need to be ported. OSTaskStkInit() OSTaskCreateHook() OSTaskDelHook() OSTaskSwHook() OSTaskStatHook() OSTaskTickHook() The last 5 functions are called hook functions and are used mainly for extending the functions of uC/OS-II. Note that these functions don’t have to contain code. The only function that really needs to be ported is the OSTTaskStkInit(). This function is called when the task is created. This function is responsible for initializing the stack architecture for tasks. This function can be in the same form for porting to most of the ARM processors. Please refer to the following sample programs. 7.1.5 Sample Programs 1. OSStartHighRdy OSStartHighRdy: BL OSTaskSwHook MOV R0,#1 LDR R1,=OSRunning STRB R0,[R1] LDR r4, addr_OSTCBCur @ Get current task TCB address LDR r5, addr_OSTCBHighRdy @ Get highest priority task TCB address LDR r5, [r5] @ get stack pointer LDR sp, [r5] @ switch to the new stack STR r5, [r4] @ set new current task TCB address LDMFD sp!, {r4} @ YYY MSR SPSR_cxsf, r4 LDMFD sp!, {r4} @ get new state from top of the stack MSR CPSR_cxsf, r4 @ CPSR should be SVC32Mode LDMFD sp!, {r0-r12, lr, pc } @ start the new task 2. OS_Task_Sw OS_TASK_SW: [...]... task execution rates and the assigned priorities: Task Task Period Priority StartTask() One time only 4* UpdateTimeTsk() 1ms 6 ScanSwTsk() 10 ms 8 DispTimeTsk() 10 0ms 10 TimerModeTsk 1/ keypress 12 * Required to be the highest priority The following describes briefly the tasks functions: (1) StartTask(): This task starts by initializing the kernel timer with OSTTickInit() It then initializes the LCD and... #;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; #Now Supervisor mode #;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; STR r12, [sp, #-8] @ saved r12 LDR r12, SAVED_LR @LDR r12, [pc, #SAVED_LR-.-8] STMFD sp!, {r12} @ r12 that PC of task SUB sp, sp, #4 @ inclease stack point LDMIA sp!, {r12} @ restore r12 STMFD sp!, {lr} @ save lr STMFD sp!, {r0-r12} @ save register file and ret address MRS r4, CPSR STMFD sp!, {r4} @ save current PSR... TaskStart (void *i) { char Id1 = '1' ; char Id2 = '2'; char Id3 = '3'; char Id4 = '4'; /* * create the first Semaphore in the pipeline with 1 * to get the task started */ UART_sem = OSSemCreate (1) ; uHALr_InitTimers(); // enable timer counter interrupt /* * create the tasks in uC/OS and assign decreasing * priority to them */ OSTaskCreate(Task1, (void *)&Id1, &Stack1[STACKSIZE - 1] , 2); OSTaskCreate(Task2,... (64+SEMIHOSTED_STACK_NEEDS) #else #define TASK_STACK_SIZE 10 *10 24 #endif //Task definition /* allocate memory for tasks' stacks */ #define STACKSIZE 12 8 /* Global Variable */ unsigned int Stack1[STACKSIZE]; unsigned int Stack2[STACKSIZE]; unsigned int Stack3[STACKSIZE]; unsigned int Stack4[STACKSIZE]; unsigned int StackMain[STACKSIZE]; void Task1(void *Id) { 2 81 Embedded Systems Development and Labs; The English... Microcontrollers”, Prentice Hall, 20 01 7 Nimal Nissanke, “Realtime Systems”, Pearson Education, 19 97 8 Embest Info & Tech, Ltd Embest ARM Teaching System User Manual, version2. 01 2003 9 Embest Info & Tech, Ltd Embest S3CEV40 Evaluation Board Manual 10 Embest Info & Tech, Ltd Embest S3CEV40 Evaluation Board Schematics 11 Embest Info & Tech, Ltd Embest IDE User Manual 12 Jingjian Lu, Haoqiao Xiao, “Embedded... Related Products 1 Embest IDE 2 Flash Programmer 3 ARM JTAG Emulator (1) Embest Easy ICE for ARM (2) Embest Emulator for ARM (3) Embest PowerICE for ARM Figure C -1 Standard Emulator Figure C-2 Enhanced Emulator 4 ARM Development Boards (1) Embest S3CEV40 Full Function Development Board Figure C-3 (2) Embest AT91EB40X Development Board Figure C-4 (3) AT91EB55 Development Board Figure C-5 (4) AT91EB63 Development... * create the tasks in uC/OS and assign decreasing * priority to them */ OSTaskCreate(Task1, (void *)&Id1, &Stack1[STACKSIZE - 1] , 2); OSTaskCreate(Task2, (void *)&Id2, &Stack2[STACKSIZE - 1] , 3); OSTaskCreate(Task3, (void *)&Id3, &Stack3[STACKSIZE - 1] , 4); OSTaskCreate(Task4, (void *)&Id4, &Stack4[STACKSIZE - 1] , 5); ARMTargetStart(); // Delete current task OSTaskDel(OS_PRIO_SELF); } void Main(void)//int... 12 Jingjian Lu, Haoqiao Xiao, “Embedded Processor Classes and Current Status”, http://www.bol-system.com 13 Jingjian Lu, Haoqiao Xiao, “An Overview of 21 Century Oriented Embedded Systems”, http://www.bol-system.com 14 Philips, Ltd UDA1341TS_datasheet.pdf 15 SAMSUNG, Ltd, S3C44B0X User’s Manual 2 91 ... while (1) { value = key_read(); // display in 8-segment LED if(value > -1) { Digit_Led_Symbol(value); OSTimeDly(90); } OSTimeDly(90); } } void TaskStart (void *i) { char Id1 = '1' ; char Id2 = '2'; char Id3 = '3'; 283 Embedded Systems Development and Labs; The English Edition char Id4 = '4'; /* * create the first Semaphore in the pipeline with 1 * to get the task started */ UART_sem = OSSemCreate (1) ; uHALr_InitTimers();... uHALr_printf(" Task%c Called.\n", *(char *)Id); OSSemPost(UART_sem); while (1) { led1_on(); led2_off(); OSTimeDly(800); led1_off(); led2_on(); OSTimeDly(800); } } void Task4(void *Id) { int i; INT32U NowTime; /* print task's id */ OSSemPend(UART_sem, 0, &err); uHALr_printf(" Task%c Called.\n", *(char *)Id); OSSemPost(UART_sem); while (1) { for(i=0; i . _WrL3Addr(0x14+2); //STATUS (00 010 1xx +10 ) _WrL3Data(0xa2,0); / /1, 0 ,1, 0,0,0 ,10 : OGS=0,IGS =1, ADC_NI,DAC_NI,sngl speed,AonDoff _WrL3Addr(0x14+0); //DATA0 (00 010 1xx+00) _WrL3Data(0xc2,0); / /11 000, 010 . Edition 265 _WrL3Addr(0x14+2); // status (00 010 1xx +10 ) _WrL3Data(0x 81, 0); // 1, 0,0,0,0,0 ,11 OGS=0,IGS=0,ADC_NI,DAC_NI,sngl speed,AonDon _WrL3Addr(0x14+0); // DATA0 (00 010 1xx+00) _WrL3Data(0x0A,0);. _WrL3Addr(0x14+2); // status (00 010 1xx +10 ) #ifdef FS441KHZ _WrL3Data(0x60,0); // 0 ,1, 10, 000,0 reset,256fs,no DCfilter,iis #else _WrL3Data(0x40,0); // 0 ,1, 00,000,0 reset, 512 fs,no DCfilter,iis