STR: Guided tour of Trampoline

Types

List of types defined by OSEK/VDX

Declarations

List of declarations. All objects have to be declared before being used. The function and use of these services are similar to that of the external declaration of variables in C.

Task management

API of task management routines

Interrupt management

API of interrupt management routines

Resource management

API of resource management routines. A specific pre-declared resource named RES_SCHEDULER represents the scheduler and can be used to implement non-preemptive regions in application code.

Event control

API of event control routines.

The events of task are set according to the event mask . Calling SetEvent causes the task to be transferred to the ready state, if it was waiting for at least one of the events specified in .

The service may be called from interrupt service routines, task level and some hook routines (see Figure 12-1 of OSEK/VDX manual).

The current status of the event mask of task is copied to .

Alarms

OS management

API of operating system management routines

Hook routines

API of hook routines (called at specific points when executing applications)

This hook routine is called when an alarm expires and an error is detected during task activation or event setting.

The ErrorHook is not called, if a system service called from ErrorHook does not return E_OK as status value. Any error by calling of system services from the ErrorHook can only be detected by evaluating the status value.

// Task default stack size
// Task default priority (1 = lowest)

// ISR default stack size

OS config {
STATUS = EXTENDED;
ERRORHOOK = FALSE;
PRETASKHOOK = FALSE;
POSTTASKHOOK = FALSE;
STARTUPHOOK = FALSE;
SHUTDOWNHOOK = FALSE;
SYSTEM_CALL = TRUE;
APP_SRC = “TP.c”;
APP_NAME = “TP_exe”;
TRAMPOLINE_BASE_PATH = “/Users/puaut/Home/Sources/trampoline”;
CFLAGS = “-g -c -ffreestanding -fsigned-char -mcpu=arm7tdmi -Os -Winline -Wall -Werror-implicit-function-declaration –param max-inline-insns-single=1000 -ffunction-sections -fdata-sections -std=gnu99”;
ASFLAGS = “-mcpu=arm7tdmi –fatal-warnings “;
LDFLAGS = “-g –cref –allow-multiple-definition –gc-sections”;
LDFLAGS = “-L/usr/local/arm/lib/gcc/arm-elf/4.1.0 -lgcc -L/usr/local/arm/arm-elf/lib -lc”;
COMPILER = “arm-elf-gcc”;
ASSEMBLER = “arm-elf-as”;
LINKER = “arm-elf-ld”;
MEMMAP = TRUE {
COMPILER = gcc;
LINKER = gnu_ld { SCRIPT = “script.ld”; };
ASSEMBLER = gnu_as;
MEMORY_PROTECTION = FALSE;
};
} ;

// the OSEK OS that runs on the CPU.
// system with extended status (other value = STANDARD)
// OSEK hooks (value = TRUE or FALSE)

// Application source file (add several APP_SRC if several source files)
// Name of generated binary
// Trampoline base path (change depending on Tampoline installation path)
// gcc-arm compilation flags (do not change)

// as-arm assembly flags (do not change)
// ld-arm link flags (do not change)
// ld-arm link flags defining libraries to use (change depending on where gcc-arm is installed)

// name of gcc-arm binary
// name of as-arm binary
// name of ld-arm binary
// use of Trampoline memory map (do not change)

// Task priority (1 = lowest)

// Task is not activated at startup (to change, set AUTOSTART to TRUE)

// Number of allowed simultaneous

// Preemption mode (FULL = preemptive, NON = non preemptive)

// Resources used (put several lines if several resources are used)

// Events the task may react to (put several lines if needed)

COUNTER = SystemCounter;
ACTION = ACTIVATETASK {
TASK = taskContact;
};
AUTOSTART = TRUE {
ALARMTIME = 100;
CYCLETIME = 500;
APPMODE = std;
};
};

// Counter assigned to the alarm

// Action associated to the alarm (ACTIVATE_TASK, SETEVENT, ALARMCALLBACK)

// Activated task when the alarm is triggered// (TRUE/FALSE) Defines if the alarm is started automatically at system startup

// Time when the alarm shall expire first

// Cycle (0 if the alarm is programmed to expire only once). Here, 500 ms

// Application mode

// Event mask is generated automatically (else put MASK = hex value, ex: MASK = 0x01)

// Resource mode (STANDARD, LINKED, INTERNAL)

Schedule tables

ScheduleTableType <sched_table_id>)